AccelerationSceneReducedTSID.hpp

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#ifndef WBCACCELERATIONSCENEREDUCEDTSID_HPP
#define WBCACCELERATIONSCENEREDUCEDTSID_HPP
 
#include "../../core/Scene.hpp"
#include <base/samples/Wrenches.hpp>
 
namespace wbc{
 
class AccelerationSceneReducedTSID : public Scene{
protected:
    static SceneRegistry<AccelerationSceneReducedTSID> reg;
 
    // Helper variables
    base::VectorXd robot_acc, solver_output_acc;
    base::samples::Wrenches contact_wrenches;
    double hessian_regularizer;
 
    virtual TaskPtr createTask(const TaskConfig &config);
 
    base::Time stamp;
 
public:
    AccelerationSceneReducedTSID(RobotModelPtr robot_model, QPSolverPtr solver, const double dt);
    virtual ~AccelerationSceneReducedTSID(){}
 
    virtual const HierarchicalQP& update();
 
    virtual const base::commands::Joints& solve(const HierarchicalQP& hqp);
 
    virtual const TasksStatus &updateTasksStatus();
 
    const base::samples::Wrenches& getContactWrenches(){return contact_wrenches;}
 
    void setHessianRegularizer(const double reg){hessian_regularizer=reg;}
 
    double getHessianRegularizer(){return hessian_regularizer;}
 
    const base::VectorXd& getSolverOutputRaw() const { return solver_output; }
};
 
} // namespace wbc
 
#endif