Function copp2_socp_expert 

pub fn copp2_socp_expert<'a, M: RobotTorque>(
    problem: &Copp2Problem<'a, M>,
    options: &ClarabelOptions,
) -> Result<(Option<Vec<f64>>, DefaultSolution<f64>), CoppError>

Expert COPP2-SOCP API with full Clarabel solution exposure.

Purpose

This API is intended for advanced users who need both:

• extracted high-level profile Option<Vec<f64>>, and
• raw solver result DefaultSolution<f64> for post-analysis.

Return contract

• Ok((Some(a), solution)): status accepted by options.is_allow(solution.status).
• Ok((None, solution)): solve finished but status not accepted by policy.
• Err(...): true runtime failures only (input validation / model build / solver construction).

Returns

Returns tuple (Option<Vec<f64>>, DefaultSolution<f64>) for diagnostic workflows.

Errors

Returns CoppError only for real failures (input, model build, or solver runtime).

Contract

• caller must handle None profile when status is not accepted;
• acceptance policy is fully controlled by options.is_allow. See ClarabelOptions::is_allow for a status-handling example.

Verbosity behavior

Logging is layered by options.verbosity():

• Silent: no algorithm logs;
• Summary: lifecycle milestones and elapsed time;
• Debug: assembly-level counters and stage summaries;
• Trace: fine-grained stage deltas and solver snapshot diagnostics.