Revision 29:8b4fd3d36882, committed 2020-10-06

Comitter:

saloutos

Date:

Tue Oct 06 01:02:31 2020 +0000

Parent:

28:22530fdc149b

Child:

30:833008a20edd

Commit message:

Commented out matrix inversions to start, since mass matrix is initialized to all zeros

Changed in this revision

--- a/main.cpp	Thu Oct 01 14:53:18 2020 +0000
+++ b/main.cpp	Tue Oct 06 01:02:31 2020 +0000
@@ -299,6 +299,8 @@
                 float M12 = 0; 
                 float M22 = 0;
                 
+                
+                
                 // Populate mass matrix
                 MassMatrix.Clear();
                 MassMatrix << M11 << M12
@@ -309,17 +311,21 @@
                 Jacobian << Jx_th1 << Jx_th2
                          << Jy_th1 << Jy_th2;
                 
+                // Once you have copied the elements of the mass matrix, uncomment the following section
+                
                 // Calculate Lambda matrix
-                JacobianT = MatrixMath::Transpose(Jacobian);
-                InverseMassMatrix = MatrixMath::Inv(MassMatrix);
-                temp_product = Jacobian*InverseMassMatrix*JacobianT;
-                Lambda = MatrixMath::Inv(temp_product); 
+//                JacobianT = MatrixMath::Transpose(Jacobian);
+//                InverseMassMatrix = MatrixMath::Inv(MassMatrix);
+//                temp_product = Jacobian*InverseMassMatrix*JacobianT;
+//                Lambda = MatrixMath::Inv(temp_product); 
                 
                 // Pull elements of Lambda matrix
-                float L11 = Lambda.getNumber(1,1);
-                float L12 = Lambda.getNumber(1,2);
-                float L21 = Lambda.getNumber(2,1);
-                float L22 = Lambda.getNumber(2,2);               
+//                float L11 = Lambda.getNumber(1,1);
+//                float L12 = Lambda.getNumber(1,2);
+//                float L21 = Lambda.getNumber(2,1);
+//                float L22 = Lambda.getNumber(2,2);               
+                                
+                                
                                 
                 // Set desired currents             
                 current_des1 = 0;