From 0bda60f70f08631db34f38ae92fe008506f04a1b Mon Sep 17 00:00:00 2001
From: asantamaria <somriu@gmail.com>
Date: Mon, 22 Aug 2016 12:53:48 +0200
Subject: [PATCH] minor changes to leave CalcPinv working in master
---
src/common_fc.h | 2 --
src/tasks/ir.cpp | 3 +--
2 files changed, 1 insertion(+), 4 deletions(-)
diff --git a/src/common_fc.h b/src/common_fc.h
index ed2a88d..2523d17 100644
--- a/src/common_fc.h
+++ b/src/common_fc.h
@@ -59,8 +59,6 @@ class CCommon_Fc
*
* Compute the matrix pseudo-inverse using SVD
*/
- //static Eigen::MatrixXd CalcPinv(const Eigen::MatrixXd &a);
-
template<typename _Matrix_Type_> static _Matrix_Type_ CalcPinv(const _Matrix_Type_ &a, double epsilon = std::numeric_limits<double>::epsilon())
{
Eigen::JacobiSVD< _Matrix_Type_ > svdd(a, Eigen::ComputeThinU | Eigen::ComputeThinV);
diff --git a/src/tasks/ir.cpp b/src/tasks/ir.cpp
index 10864b6..2db32f6 100644
--- a/src/tasks/ir.cpp
+++ b/src/tasks/ir.cpp
@@ -44,8 +44,7 @@ void CTaskIR::TaskErrorJac(const int& arm_dof, const double& inf_rad, const Eige
}
// }
- //Eigen::MatrixXd Hinv = UAM::CCommon_Fc::CalcPinv(H);
- Eigen::MatrixXd Hinv = H.transpose();
+ Eigen::MatrixXd Hinv = UAM::CCommon_Fc::CalcPinv(H);
// weighting matrix
Eigen::MatrixXd temp = JIR*Hinv*JIR.transpose();
--
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