From ac1da1ca6716daf4f71e4bc64f6c649f51cb8115 Mon Sep 17 00:00:00 2001
From: asantamaria <somriu@gmail.com>
Date: Wed, 29 Jul 2015 19:23:25 +0200
Subject: [PATCH] TAG: working with visual servo and inflation radius
---
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 afb2df3..04c2159 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/quadarm_task_priority_ctrl.cpp
@@ -290,11 +290,11 @@ void CQuadarm_Task_Priority_Ctrl::uam_control(){
MatrixXd Vtotal(4+this->arm_.nj,1);
// Task 0 + 1
- Vtotal = this->ctrl_params_.ir_vel + this->ctrl_params_.vs_vel;
+ //Vtotal = this->ctrl_params_.ir_vel + this->ctrl_params_.vs_vel;
// 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;
+ 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();
--
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