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Commit 40b78021 authored by asantamaria's avatar asantamaria
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minor fixes in eigenvalues

parent 3b62c6ac
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......@@ -319,13 +319,13 @@ void CQuadarm_Task_Priority_Ctrl::uam_control(){
MatrixXd Jvssq = JVS.transpose()*JVS;
MatrixXd Jgsq = JG.transpose()*JG;
MatrixXd Jlsq = JL.transpose()*JL;
this->eig_values_.vs = Jvssq.eigenvalues();
this->eig_values_.cog = Jgsq.eigenvalues();
this->eig_values_.jl = Jgsq.eigenvalues();
this->eig_values_.vs = Jvssq.eigenvalues().real();
this->eig_values_.cog = Jgsq.eigenvalues().real()*1e6;
this->eig_values_.jl = Jlsq.eigenvalues().real();
// std::cout << "***********" << std::endl << std::endl;
// std::cout << "VS eigenvalues:" << std::endl << Jvssq.eigenvalues() << std::endl;
// std::cout << "CoG eigenvalues:" << std::endl << Jgsq.eigenvalues()*1e6 << std::endl;
// std::cout << "JL eigenvalues:" << std::endl << Jlsq.eigenvalues() << std::endl;
// 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;
}
void CQuadarm_Task_Priority_Ctrl::task_infrad(MatrixXd& JIR,MatrixXd& JIR_pseudo,MatrixXd& sigmaIR)
{
......
......@@ -117,9 +117,9 @@ typedef struct{
}cog_data;
typedef struct{
VectorXcd vs;
VectorXcd cog;
VectorXcd jl;
VectorXd vs;
VectorXd cog;
VectorXd jl;
}eig_values;
class CQuadarm_Task_Priority_Ctrl
......
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