diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/quadarm_task_priority_ctrl.cpp index 92a33700033e7a3c8bd43209ccbeeb73068c904f..eca4e69deb1c1a1d9fad3bde126ef7c7f2f7af0b 100644 --- a/src/quadarm_task_priority_ctrl.cpp +++ b/src/quadarm_task_priority_ctrl.cpp @@ -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) { diff --git a/src/quadarm_task_priority_ctrl.h b/src/quadarm_task_priority_ctrl.h index bee41f0341e0b4d1c4c8480db8ba1da2731dbd33..3454c4df0d17a6fce83be95e02f0ff20d259f45a 100644 --- a/src/quadarm_task_priority_ctrl.h +++ b/src/quadarm_task_priority_ctrl.h @@ -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