give reg a meaning

Simple-Robotics · Aug 13, 2024 · 488b874 · 488b874
1 parent 24206cd
commit 488b874
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/examples/python/util.py b/examples/python/util.py
@@ -2,7 +2,7 @@
 import scipy.sparse as spa
 
 
-def generate_mixed_qp(n, seed=1, reg=-2.0, dens1=0.075):
+def generate_mixed_qp(n, seed=1, reg=1e-2, dens1=0.075):
     # A function for generating sparse random convex qps in dense format
 
     np.random.seed(seed)
@@ -16,7 +16,7 @@ def generate_mixed_qp(n, seed=1, reg=-2.0, dens1=0.075):
     P = (P + P.T) / 2.0
 
     s = max(np.absolute(np.linalg.eigvals(P)))
-    P += (abs(s) + 1e-02) * spa.eye(n)
+    P += (abs(s) + reg) * spa.eye(n)
     P = spa.coo_matrix(P)
     q = np.random.randn(n)
     A = spa.random(m, n, density=0.15, data_rvs=np.random.randn, format="csc").toarray()