Commit ac9a5659 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 v0.2. With weighted pseudo-inverse. No saturations. No secondary tasks.
parent 78fb8a6a
......@@ -360,8 +360,8 @@ void CQuadarm_Task_Priority_Ctrl::task_vs(MatrixXd& JVS,MatrixXd& JVS_pseudo,Mat
JVS = Jqa1;
// task jacobian pseudo inverse
JVS_pseudo = calcPinv(Jqa1);
//JVS_pseudo = weight_jacvs_inverse(Jqa1);
//JVS_pseudo = calcPinv(Jqa1);
JVS_pseudo = weight_jacvs_inverse(Jqa1);
// task velocity vector
sigmaVS = this->cam_vel_-Jqa2*this->ctrl_params_.v_rollpitch;
......
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