pub struct Copp3Problem<'a, M: RobotTorque> { /* private fields */ }Expand description
The problem of COPP3.
§Arguments
robot- A robot with torque implemented, which defines the constraints and dynamic of the problem.objectives- Objectives for COPP3 optimization.idx_s_start- The starting index along the path (reached).a_linearization- Linearization reference profile for third-order constraints.a_boundary=(a_start,a_final)- The initial and final acceleration at the start and end of the path.b_boundary=(b_start,b_final)- The initial and final boundary conditions forb.num_stationary=(start,end)- Effective stationary intervals derived inbuild_with_linearization().
Implementations§
Source§impl<'a, M: RobotTorque> Copp3Problem<'a, M>
impl<'a, M: RobotTorque> Copp3Problem<'a, M>
Sourcepub fn set_a_linearization(&mut self, a_linearization: &'a [f64])
pub fn set_a_linearization(&mut self, a_linearization: &'a [f64])
Update linearization profile.
Sourcepub fn set_a_linear(&mut self, a_linearization: &'a [f64])
pub fn set_a_linear(&mut self, a_linearization: &'a [f64])
Backward-compatible alias for set_a_linearization.
Sourcepub fn set_objective(&mut self, objective: &'a [CoppObjective<'a>])
pub fn set_objective(&mut self, objective: &'a [CoppObjective<'a>])
Update objective list.
Sourcepub fn as_topp3_problem(&self) -> Topp3Problem<'_>
pub fn as_topp3_problem(&self) -> Topp3Problem<'_>
Convert to the TOPP3 view that shares interval/boundary/linearization fields.
Auto Trait Implementations§
impl<'a, M> Freeze for Copp3Problem<'a, M>
impl<'a, M> RefUnwindSafe for Copp3Problem<'a, M>where
M: RefUnwindSafe,
impl<'a, M> Send for Copp3Problem<'a, M>where
M: Send,
impl<'a, M> Sync for Copp3Problem<'a, M>where
M: Sync,
impl<'a, M> Unpin for Copp3Problem<'a, M>
impl<'a, M> !UnwindSafe for Copp3Problem<'a, M>
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
fn into_either(self, into_left: bool) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left is true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left(&self) returns true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read more§impl<T> Pointable for T
impl<T> Pointable for T
§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.