pavel/teleoperation
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small update

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HRS_D committed 2019-02-05 13:44:24 +01:00
1 parent 193dcff7a8
commit 3b16ae6fcd
2 files changed
+26 -8
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src/NAO_Jacobian.cpp
+8 -7
View File
@@ -1,4 +1,5 @@
#include <Vector3.h>
using namespace std;
// Calculate the Jacobian Matrix for the NAO
// inputs: original angles tau1 - tau4 and new angles tau1' - tau4'
@@ -24,14 +25,14 @@ e_diff = diff(e_end, e);
a_diff = diff(a_end, a);
vector<float> postion_vec;
postion_vec.push_back(e_diff.x);
postion_vec.push_back(e_diff.y);
postion_vec.push_back(e_diff.z);
postion_vec.vector::push_back(e_diff.x);
postion_vec.vector::push_back(e_diff.y);
postion_vec.vector::push_back(e_diff.z);
vector<float> angles_vec;
angles_vec.push_back(a_diff.tau_1);
angles_vec.push_back(a_diff.tau_2);
angles_vec.push_back(a_diff.tau_3);
angles_vec.push_back(a_diff.tau_4);
angles_vec.vector::push_back(a_diff.tau_1);
angles_vec.vector::push_back(a_diff.tau_2);
angles_vec.vector::push_back(a_diff.tau_3);
angles_vec.vector::push_back(a_diff.tau_4);s
vector<vector<float>> Jacobian;