From 2d9f77605d40d7e3e7f4eb443bead6faffffa875 Mon Sep 17 00:00:00 2001
From: roberto rossi <roberto.rossi@polimi.it>
Date: Sun, 4 Sep 2016 15:55:28 +0200
Subject: [PATCH] corrected jl jacobian and sigma
---
src/tasks/jl.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/tasks/jl.cpp b/src/tasks/jl.cpp
index b63d5c9..9a99a9a 100644
--- a/src/tasks/jl.cpp
+++ b/src/tasks/jl.cpp
@@ -60,9 +60,9 @@ void CTaskJL::TaskErrorJacFull(UAM::CArm& arm, const Eigen::MatrixXd& jntlim_pos
for (unsigned int ii = 0; ii < arm.nj; ++ii)
{
// Task sigma
- sigmaL(ii,0) = AAL(ii,ii)*std::pow(jntlim_pos_error(ii,0),pow_n);
+ sigmaL(ii,0) = -AAL(ii,ii)*std::pow(jntlim_pos_error(ii,0),pow_n);
// Task Jacobian
- JL(ii,4+ii) = pow_n*AAL(ii,ii)*std::pow(jntlim_pos_error(ii,0),pow_n-1);
+ JL(ii,4+ii) = -pow_n*AAL(ii,ii)*std::pow(jntlim_pos_error(ii,0),pow_n-1);
}
// Task Jacobian Pseudo-inverse
--
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