Commit 78fb8a6a authored by Angel Santamaria-Navarro's avatar Angel Santamaria-Navarro
Browse files

TAG: Simulation working with IBVS (all kinton autonomy nodes). ROS node tag...

TAG: Simulation working with IBVS (all kinton autonomy nodes). ROS node tag v0.1. No weighted pseudo-inverse. No saturations. No secondary tasks.
parent 14b1437d
......@@ -291,10 +291,7 @@ void CQuadarm_Task_Priority_Ctrl::uam_control(){
// Task 0 + 1 + 3
//Vtotal = this->ctrl_params_.ir_vel + this->ctrl_params_.vs_vel + this->ctrl_params_.jntlim_vel;
// All tasks
//Vtotal = this->ctrl_params_.ir_vel + this->ctrl_params_.vs_vel + this->ctrl_params_.cog_vel + this->ctrl_params_.jntlim_vel;
//TODO
Vtotal = JVS_wpseudo * sigmaVS;
Vtotal = this->ctrl_params_.ir_vel + this->ctrl_params_.vs_vel + this->ctrl_params_.cog_vel + this->ctrl_params_.jntlim_vel;
Vtotal = this->ctrl_params_.lambda_robot.array()*Vtotal.array();
......@@ -366,8 +363,6 @@ void CQuadarm_Task_Priority_Ctrl::task_vs(MatrixXd& JVS,MatrixXd& JVS_pseudo,Mat
JVS_pseudo = calcPinv(Jqa1);
//JVS_pseudo = weight_jacvs_inverse(Jqa1);
//TODO
// task velocity vector
sigmaVS = this->cam_vel_-Jqa2*this->ctrl_params_.v_rollpitch;
}
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment