From 1b0ae11357317a12a65dbb0bae044b3070e2a2c0 Mon Sep 17 00:00:00 2001
From: asantamaria <somriu@gmail.com>
Date: Sat, 27 Feb 2016 14:59:01 +0100
Subject: [PATCH] added public jacobians to be plotted
---
src/quadarm_task_priority_ctrl.cpp | 7 +++++++
src/quadarm_task_priority_ctrl.h | 8 ++++++++
2 files changed, 15 insertions(+)
diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/quadarm_task_priority_ctrl.cpp
index b0d45a9..06f1415 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/quadarm_task_priority_ctrl.cpp
@@ -326,6 +326,13 @@ void CQuadarm_Task_Priority_Ctrl::uam_control(){
// std::cout << "VS eigenvalues:" << std::endl << this->eig_values_.vs << std::endl;
// std::cout << "CoG eigenvalues:" << std::endl << this->eig_values_.cog << std::endl;
// std::cout << "JL eigenvalues:" << std::endl << this->eig_values_.jl << std::endl;
+
+ // Storing Jacobians to use them externally
+ this->jacobians_.ir = JIR;
+ this->jacobians_.vs = JVS;
+ this->jacobians_.cog = JG;
+ this->jacobians_.jl = JL;
+
}
void CQuadarm_Task_Priority_Ctrl::task_infrad(MatrixXd& JIR,MatrixXd& JIR_pseudo,MatrixXd& sigmaIR)
{
diff --git a/src/quadarm_task_priority_ctrl.h b/src/quadarm_task_priority_ctrl.h
index fce566c..75766a4 100644
--- a/src/quadarm_task_priority_ctrl.h
+++ b/src/quadarm_task_priority_ctrl.h
@@ -122,6 +122,13 @@ typedef struct{
VectorXd jl;
}eig_values;
+typedef struct{
+ MatrixXd ir;
+ MatrixXd vs;
+ MatrixXd cog;
+ MatrixXd jl;
+}jacobians;
+
class CQuadarm_Task_Priority_Ctrl
{
private:
@@ -258,6 +265,7 @@ class CQuadarm_Task_Priority_Ctrl
eig_values eig_values_; // Task jacobian eigenvalues.
+ jacobians jacobians_; // Task Jacobians.
/**
* \brief Constructor
--
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