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Pep Martí Saumell
uam_task_ctrl
Commits
40b78021
Commit
40b78021
authored
9 years ago
by
asantamaria
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minor fixes in eigenvalues
parent
3b62c6ac
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2 changed files
src/quadarm_task_priority_ctrl.cpp
+6
-6
6 additions, 6 deletions
src/quadarm_task_priority_ctrl.cpp
src/quadarm_task_priority_ctrl.h
+3
-3
3 additions, 3 deletions
src/quadarm_task_priority_ctrl.h
with
9 additions
and
9 deletions
src/quadarm_task_priority_ctrl.cpp
+
6
−
6
View file @
40b78021
...
...
@@ -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
=
J
g
sq
.
eigenvalues
();
this
->
eig_values_
.
vs
=
Jvssq
.
eigenvalues
()
.
real
()
;
this
->
eig_values_
.
cog
=
Jgsq
.
eigenvalues
()
.
real
()
*
1e6
;
this
->
eig_values_
.
jl
=
J
l
sq
.
eigenvalues
()
.
real
()
;
// std::cout << "***********" << std::endl << std::endl;
// std::cout << "VS eigenvalues:" << std::endl <<
Jvssq.
eig
en
values
()
<< std::endl;
// std::cout << "CoG eigenvalues:" << std::endl <<
Jgsq.
eig
en
values
()*1e6
<< std::endl;
// std::cout << "JL eigenvalues:" << std::endl <<
Jlsq.
eig
en
values
()
<< 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
)
{
...
...
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src/quadarm_task_priority_ctrl.h
+
3
−
3
View file @
40b78021
...
...
@@ -117,9 +117,9 @@ typedef struct{
}
cog_data
;
typedef
struct
{
VectorX
c
d
vs
;
VectorX
c
d
cog
;
VectorX
c
d
jl
;
VectorXd
vs
;
VectorXd
cog
;
VectorXd
jl
;
}
eig_values
;
class
CQuadarm_Task_Priority_Ctrl
...
...
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