VelocitySceneQP.hpp

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#ifndef WBC_VELOCITY_SCENE_QP_HPP
#define WBC_VELOCITY_SCENE_QP_HPP
 
#include "../../core/Scene.hpp"
 
namespace wbc{

class VelocitySceneQP : public Scene{
protected:
    static SceneRegistry<VelocitySceneQP> reg;
 
    double hessian_regularizer;
    std::vector< TaskPtr > tasks;
    std::vector< ConstraintPtr > constraints;
    HierarchicalQP hqp;
    bool configured;
    types::JointCommand solver_output_joints;
    Eigen::VectorXd solver_output;
 
public:
    VelocitySceneQP(RobotModelPtr robot_model, QPSolverPtr solver, const double dt);
    virtual ~VelocitySceneQP(){}

    virtual bool configure(const std::vector<TaskPtr> &tasks);

    virtual const HierarchicalQP& update();

    virtual const types::JointCommand& solve(const HierarchicalQP& hqp);

    void setHessianRegularizer(const double reg){hessian_regularizer=reg;}

    double getHessianRegularizer(){return hessian_regularizer;}

    const Eigen::VectorXd& getSolverOutputRaw() const { return solver_output; }
};
 
} // namespace wbc
 
#endif // WBC_VELOCITY_SCENE_QP_HPP