copp 0.2.2

Convex-objective path parameterization for robotic trajectory planning.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31

//! C ABI surface for COPP.
//!
//! This module exposes only C-compatible `#[repr(C)]` types, opaque handles,
//! and `extern "C"` functions.  Higher-level implementation details stay behind this
//! boundary.

pub mod core;
pub mod formulation;
pub mod interpolation;
pub mod path;
pub mod robot;
pub mod solver;

pub use core::{
    CoppMatrixF64, CoppMatrixLayout, CoppMatrixViewF64, CoppSliceF64, CoppSliceMutF64, CoppStatus,
    CoppVecF64, CoppVecUsize, CoppVerbosity,
};
pub use formulation::{
    Copp2Problem, Copp3Problem, CoppObjective, CoppObjectiveKind, CoppProfile3rd, Topp2Problem,
    Topp3Problem,
};
pub use path::{
    CoppJet3, CoppPath, CoppPathEvaluate2ndFn, CoppPathEvaluate3rdFn, CoppPathOptions,
    CoppPathOutOfRangeMode, CoppPathParametricFn, CoppPathParametrization,
};
pub use robot::{CoppInverseDynamicsFn, CoppRobot};
pub use solver::{
    Copp2SocpResult, Copp3SocpResult, CoppClarabelDirectSolveMethod, CoppClarabelLinearSolverInfo,
    CoppClarabelOptions, CoppClarabelSettings, CoppClarabelSolverStatus, CoppReachSet2Result,
    Topp2RaOptions,
};