pub struct Topp3Problem<'a> { /* private fields */ }Expand description
Prepared TOPP3 problem view.
§Method identity
This is the read-only runtime view consumed by TOPP3/COPP3 solvers after third-order constraints have been linearized.
§Important invariant
The builder precomputes linearized jerk buffers in Constraints:
jerk_a_linearjerk_max_linear
and this object subsequently holds only &Constraints (non-mutable view).
§Why this works
Original third-order inequality includes a nonlinear denominator term: $$ \sqrt{a(s)}\left(g_a(s) a(s) + g_b(s) b(s) + g_c(s) c(s) + g_d(s)\right) \le g_{\text{max}}(s). $$
Around reference a_linearization, it is approximated into affine form:
$$
\left(g_a(s) + \frac{g_{\text{max}}(s)}{2a_{\text{lin}}^{3/2}}\right)a + g_b(s) b + g_c(s) c
\le \frac{3g_{\text{max}}(s)}{2a_{\text{lin}}^{1/2}} - g_d(s).
$$
where $a_{\text{lin}}$ corresponds to code input a_linearization[k].
The affine coefficients are stored into those two buffers for downstream LP/SOCP/RA use.
Auto Trait Implementations§
impl<'a> Freeze for Topp3Problem<'a>
impl<'a> RefUnwindSafe for Topp3Problem<'a>
impl<'a> Send for Topp3Problem<'a>
impl<'a> Sync for Topp3Problem<'a>
impl<'a> Unpin for Topp3Problem<'a>
impl<'a> UnwindSafe for Topp3Problem<'a>
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