Function topp2_ra 

pub fn topp2_ra(
    problem: &Topp2Problem<'_>,
    options: &ReachSet2Options,
) -> Result<Vec<f64>, CoppError>

Solve TOPP2 with RA and return the profile $a(s)=\dot{s}^2$.

Returns

Returns a such that:

• a[0] = a_start, a[n] = a_final, where n = idx_s_final - idx_s_start;
• a is time-optimal under configured first-/second-order constraints.

The returned profile can be mapped to t(s) by s_to_t_topp2, then to sampled s(t) by t_to_s_topp2.

Errors

Returns CoppError when backward reachable-set construction fails or when forward pass cannot maintain feasibility under constraints.

Contract

• station interval and boundary states must be valid for the given constraints;
• options must contain valid tolerance settings.