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.

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;