From 40b7802102b84eaf7277403cb04cf4c64dbf6430 Mon Sep 17 00:00:00 2001
From: asantamaria <somriu@gmail.com>
Date: Tue, 10 Nov 2015 13:05:46 +0100
Subject: [PATCH] minor fixes in eigenvalues
---
src/quadarm_task_priority_ctrl.cpp | 12 ++++++------
src/quadarm_task_priority_ctrl.h | 6 +++---
2 files changed, 9 insertions(+), 9 deletions(-)
diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/quadarm_task_priority_ctrl.cpp
index 92a3370..eca4e69 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 bee41f0..3454c4d 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
--
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