Struct Topp2ProblemBuilder 

pub struct Topp2ProblemBuilder<'a> {
    pub constraints: &'a Constraints,
    pub idx_s_interval: (usize, usize),
    pub a_boundary: (f64, f64),
}

Builder for Topp2Problem.

Example

The example below builds the smallest TOPP2 problem from a robot’s station grid.

use copp::robot::Robot;
use copp::solver::topp2_ra::Topp2ProblemBuilder;

let mut robot = Robot::with_capacity(2usize, 3);
let s = [0.0, 0.5, 1.0];
robot.with_s(s.as_slice())?;

let problem = Topp2ProblemBuilder::new(&robot, (0, 2), (0.0, 0.0)).build()?;
assert_eq!(problem.s_len(), 3);

Fields

constraints: &'a Constraints

Reference to path constraints.

idx_s_interval: (usize, usize)

Closed station-index interval (idx_s_start, idx_s_final).

a_boundary: (f64, f64)

Endpoint state tuple (a_start, a_final).

Implementations

impl<'a> Topp2ProblemBuilder<'a>

pub fn new<M: RobotBasic>( robot: &'a Robot<M>, idx_s_interval: (usize, usize), a_boundary: (f64, f64), ) -> Self

Create a TOPP2 builder from a Robot reference.

Parameters

• robot: robot wrapper with the trait RobotBasic whose constraint buffer defines the problem domain.
• idx_s_interval: closed station-index interval (idx_s_start, idx_s_final).
• a_boundary: endpoint state tuple (a_start, a_final).

pub fn with_constraint( constraints: &'a Constraints, idx_s_interval: (usize, usize), a_boundary: (f64, f64), ) -> Self

Create a TOPP2 builder with all required fields.

Parameters

• constraints: reference to path constraints defining the problem domain.
• idx_s_interval: closed station-index interval (idx_s_start, idx_s_final).
• a_boundary: endpoint state tuple (a_start, a_final).

pub fn build(&self) -> Result<Topp2Problem<'a>, CoppError>

Build a validated Topp2Problem.

pub fn validate(&self) -> Result<(), CoppError>

Validate builder fields and consistency.