Commit 3fedc3e1 authored by Angel Santamaria-Navarro's avatar Angel Santamaria-Navarro
Browse files

minor changes

parent a3926392
......@@ -111,7 +111,6 @@ void CTaskEEPOS::TaskErrorJac(const UAM::CHT& HT, UAM::CArm& arm, const Eigen::M
// Task Error ________________________________________________
// End-Effector Position Error
sigmaEEPOS.block(0,0,3,1) = eepos_des.block(0,0,3,1) - HT.cam_in_w.block(0,3,3,1);
// End-Effector Orientation Error
......@@ -169,8 +168,8 @@ void CTaskEEPOS::TaskErrorJac(const UAM::CHT& HT, UAM::CArm& arm, const Eigen::M
JEEPOS.block(0,6,6,arm.nj) = omega2euldiff_in_w*JEEPOS_omw.block(0,6,6,arm.nj);
// task jacobian pseudo inverse
//JEEPOS_pseudo = UAM::CCommon_Fc::WeightInvJac(JEEPOS,vs_delta_gain,vs_alpha_min,sigmaEEPOS.block(0,0,3,1).norm());
JEEPOS_pseudo = JEEPOS.transpose();
JEEPOS_pseudo = UAM::CCommon_Fc::WeightInvJac(JEEPOS,vs_delta_gain,vs_alpha_min,sigmaEEPOS.block(0,0,3,1).norm());
// Return reduced Jacobians (without roll and pitch columns)
JEEPOS_reduced = Eigen::MatrixXd::Zero(6,4+arm.nj);
JEEPOS_reduced.block(0,0,6,3) = JEEPOS.block(0,0,6,3);
......
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