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copp2_socp

copp::solver::copp2_socp

Function copp2_socp 

Source 
pub fn copp2_socp<'a, M: RobotTorque>(
    problem: &Copp2Problem<'a, M>,
    options: &ClarabelOptions,
) -> Result<Vec<f64>, CoppError>
Expand description

Strict COPP2-SOCP API for production use.

§Purpose

Use this entry when caller only needs a valid trajectory profile a and treats non-accepted solver statuses as hard failures.

§Contract

  • Internally calls copp2_socp_expert.
  • Returns Ok(a) iff options.is_allow(solution.status) is true.
  • Returns Err(CoppError::ClarabelSolverStatus(...)) when status is not accepted.

§Returns

Returns accepted profile a for production usage.

§Errors

Returns CoppError for model/solver failures and when solver status is not accepted.

§Notes

For workflows requiring low-level diagnostics (status, iterate behavior, residual-related fields in Clarabel solution), prefer copp2_socp_expert.