From 78fb8a6a1829bfb8430c511487e2b032abfc1d80 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Wed, 5 Aug 2015 19:22:50 +0200
Subject: [PATCH] TAG: Simulation working with IBVS (all kinton autonomy
nodes). ROS node tag v0.1. No weighted pseudo-inverse. No saturations. No
secondary tasks.
---
src/quadarm_task_priority_ctrl.cpp | 7 +------
1 file changed, 1 insertion(+), 6 deletions(-)
diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/quadarm_task_priority_ctrl.cpp
index d6a8207..1432e04 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/quadarm_task_priority_ctrl.cpp
@@ -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;
}
--
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