Struct Topp3ProblemBuilder 

pub struct Topp3ProblemBuilder<'a> {
    pub constraints: &'a mut Constraints,
    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),
    pub a_linearization_floor: f64,
}

Builder for Topp3Problem, including optional in-build linearization.

Side effect notice

build_with_linearization() updates cached affine linearization data inside Constraints. Raw jerk constraints remain unchanged.

Fields

constraints: &'a mut Constraints

Mutable constraint storage used to build linearized TOPP3 problem data.

idx_s_start: usize

Start station index of the optimization interval.

a_linearization: &'a [f64]

Reference profile a[k] used to linearize third-order constraints.

a_boundary: (f64, f64)

Boundary values of a=(a_start, a_final).

b_boundary: (f64, f64)

Boundary values of b=(b_start, b_final).

num_stationary_max: (usize, usize)

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

a_linearization_floor: f64

Denominator floor for stable evaluation of 1/sqrt(a_linearization) near a=0.

Effective usage in linearization is: $$ \frac{1}{\sqrt{\max(a_{lin}, a_{floor})}}. $$ Discrete code form: 1.0 / max(a_linearization, a_linearization_floor).sqrt().

More details are available in the Topp3Problem documentation.

Implementations

impl<'a> Topp3ProblemBuilder<'a>

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

Create a TOPP3 builder with required fields.

Defaults:

• num_stationary_max = (1, 1)
• a_linearization_floor = 1E-10

pub fn with_constraint( constraints: &'a mut Constraints, idx_s_start: usize, a_linearization: &'a [f64], a_boundary: (f64, f64), b_boundary: (f64, f64), ) -> Self

Create a TOPP3 builder with required fields.

Defaults:

• num_stationary_max = (1, 1)
• a_linearization_floor = 1E-10

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 with_a_linearization_floor(self, floor: f64) -> Self

Set denominator floor used in linearization.

pub fn build_with_linearization(self) -> Result<Topp3Problem<'a>, CoppError>

Build a TOPP3 problem and linearize third-order constraints in one step.

This validates boundaries/interval/floor first, then writes linearized jerk buffers.