From 2d56c73e181b4c490ed2206b7f049210340b88c8 Mon Sep 17 00:00:00 2001 From: Lin Zhao Date: Tue, 30 Jan 2024 14:37:56 -0500 Subject: [PATCH] fix eigen cross issue --- src/mvp_control/mvp_control_ros.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/mvp_control/mvp_control_ros.cpp b/src/mvp_control/mvp_control_ros.cpp index cd07fdf..6ffc4a1 100644 --- a/src/mvp_control/mvp_control_ros.cpp +++ b/src/mvp_control/mvp_control_ros.cpp @@ -461,8 +461,8 @@ void MvpControlROS::f_generate_control_allocation_from_tf() { return; } - auto torque_rpy = ang_vel_tranform * trans_xyz.cross(Eigen::Vector3d{Fx, Fy, Fz}); auto torque_pqr = trans_xyz.cross(Eigen::Vector3d{Fx, Fy, Fz}); + auto torque_rpy = ang_vel_tranform * torque_pqr; // contribution_vector(DOF::SURGE) = Fx;