From a9177d20c185d05977eb02ac509f5d485a178de5 Mon Sep 17 00:00:00 2001
From: asctec <asctec@kinton.users.iri.prv>
Date: Thu, 6 Aug 2015 13:57:53 +0200
Subject: [PATCH] debugging. arm needs changes @robot

---
 src/quadarm_task_priority_ctrl.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/quadarm_task_priority_ctrl.cpp
index 67a5bbb..82f40c9 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/quadarm_task_priority_ctrl.cpp
@@ -373,8 +373,8 @@ void CQuadarm_Task_Priority_Ctrl::task_cog(MatrixXd& JG,MatrixXd& JG_pseudo,Matr
   joint_pose.resize(this->arm_.nj);
 
   // This should be done, otherwise an eigen assertion arises in the robot computer
-  //vector<Eigen::Matrix4d,Eigen::aligned_allocator<Eigen::Matrix4d> > Transf(this->arm_.nj);
-  vector<Matrix4d> Transf(this->arm_.nj); // Vector of HT of frames relative to each links
+  vector<Eigen::Matrix4d,Eigen::aligned_allocator<Eigen::Matrix4d> > Transf(this->arm_.nj);
+  //vector<Matrix4d> Transf(this->arm_.nj); // Vector of HT of frames relative to each links
   Transf.resize(this->arm_.nj);
   // Eigen stuff
   vector<MatrixXd> T_base_to_joint(this->arm_.nj+1); // Vector of HT of frame links relative to base
-- 
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