r"""TOPP2 reachability-analysis solver."""
from __future__ import annotations
import numpy as np
from numpy.typing import NDArray
from .. import _native
Problem = _native.Topp2Problem
Options = _native.ReachSet2Options
ReachSet = _native.ReachSet2
def solve(problem: Problem, options: Options | None = None) -> NDArray[np.float64]:
"""Solve a TOPP2 problem with reachability analysis."""
return _native.topp2_ra(problem, options)
__all__ = ["Problem", "Options", "ReachSet", "solve"]