From ac9a56593c8bc79b2541b4409c004384af48d676 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Wed, 5 Aug 2015 19:41:29 +0200
Subject: [PATCH] TAG: Simulation working with IBVS (all kinton autonomy
 nodes). ROS node tag v0.2. With weighted pseudo-inverse. No saturations. No
 secondary tasks.

---
 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 1432e04..703a1f0 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/quadarm_task_priority_ctrl.cpp
@@ -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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