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copp2_socp_expert_with_info

copp::solver::copp2_socp

Function copp2_socp_expert_with_info 

Source 
pub fn copp2_socp_expert_with_info<'a, M: RobotTorque>(
    problem: &Copp2Problem<'a, M>,
    options: &ClarabelOptions,
) -> Result<ClarabelExpertInfor2nd, CoppError>
Expand description

Expert COPP2-SOCP API with Clarabel solution and linear-solver diagnostics.

Use this variant when callers need more than DefaultSolution, because Clarabel stores linear solver metadata on the solver info object rather than inside the returned solution.