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reach_set2_bidirectional

copp::solver::reach_set2

Function reach_set2_bidirectional 

Source 
pub fn reach_set2_bidirectional(
    problem: &Topp2Problem<'_>,
    options: &ReachSet2Options,
) -> Result<ReachSet2, CoppError>
Expand description

Compute bidirectional reachable intervals of $a(s)=\dot{s}^2$.

Performs a backward pass then clips the result with a forward pass to enforce both the start and terminal boundary constraints simultaneously.

§Returns

ReachSet2 with a_min[k] <= a[k] <= a_max[k] for every station.

§Errors

Returns CoppError when boundary states are infeasible, LP subproblems fail, or numerical comparisons violate configured tolerances.

§Contract

  • problem indices and boundaries must be consistent with the constraints domain.
  • options tolerances must be positive and numerically meaningful.