Struct Copp3ProblemBuilder 

pub struct Copp3ProblemBuilder<'a, M: RobotTorque> {
    pub robot: &'a mut Robot<M>,
    pub objectives: &'a [CoppObjective<'a>],
    pub idx_s_start: usize,
    pub a_linearization: &'a [f64],
    pub a_boundary: (f64, f64),
    pub b_boundary: (f64, f64),
    pub num_stationary_max: (usize, usize),
}

Builder for Copp3Problem.

Fields

robot: &'a mut Robot<M>

A robot with torque implemented, which defines the constraints and dynamic of the problem.

objectives: &'a [CoppObjective<'a>]

Objectives for COPP3 optimization.

idx_s_start: usize

The starting index along the path (reached).

a_linearization: &'a [f64]

Linearization reference profile for third-order constraints.

a_boundary: (f64, f64)

a_boundary=(a_start,a_final) - The initial and final acceleration at the start and end of the path.

b_boundary: (f64, f64)

b_boundary=(b_start,b_final) - The initial and final boundary conditions for b.

num_stationary_max: (usize, usize)

User-input upper bound of stationary intervals at (start, end).

Implementations

impl<'a, M: RobotTorque> Copp3ProblemBuilder<'a, M>

pub fn new( robot: &'a mut Robot<M>, objectives: &'a [CoppObjective<'a>], idx_s_start: usize, a_linearization: &'a [f64], a_boundary: (f64, f64), b_boundary: (f64, f64), ) -> Self

Create a COPP3 builder with required fields.

Default:

• num_stationary_max = (1, 1)

pub fn with_num_stationary_max(self, num_stationary_max: usize) -> Self

Set symmetric stationary upper bound: num_stationary_max=(n,n).

See module-level Stationary-boundary modeling note for guidance.

pub fn with_num_stationary_max_pair( self, num_stationary_max: (usize, usize), ) -> Self

Set asymmetric stationary upper bound: num_stationary_max=(start,end).

See module-level Stationary-boundary modeling note for guidance.

pub fn build_with_linearization(self) -> Result<Copp3Problem<'a, M>, CoppError>

Build a validated COPP3 problem and linearize third-order constraints in one step.