VelocitySceneQP.hpp

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#ifndef VelocitySceneQP_HPP
#define VelocitySceneQP_HPP
 
#include "../velocity/VelocityScene.hpp"
 
namespace wbc{
 
class VelocitySceneQP : public VelocityScene{
protected:
    static SceneRegistry<VelocitySceneQP> reg;
 
    base::VectorXd s_vals, tmp;
    base::MatrixXd sing_vect_r, U;
    double hessian_regularizer;
 
public:
    VelocitySceneQP(RobotModelPtr robot_model, QPSolverPtr solver, const double dt);
    virtual ~VelocitySceneQP(){}
 
    virtual const HierarchicalQP& update();
 
    void setHessianRegularizer(const double reg){hessian_regularizer=reg;}
 
    double getHessianRegularizer(){return hessian_regularizer;}
};
 
} // namespace wbc
 
#endif