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Last active November 7, 2016 04:41
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grl Tasks V-REP plugin debug data for https://github.com/jrl-umi3218/Tasks/issues/10
Raw
sva_inverse.txt
# output of https://github.com/ahundt/grl/commit/8b058dfa0b91de5fcc6b3f75b28fb40c8204db90
[2016-11-04 08:34:33.427450] [0x0000700000635000] [trace] Dummy10
-1 -2.6226e-05 0 -0.0500001
2.6226e-05 -1 0 -1.325
0 0 1 0.84
0 0 0 1
[2016-11-04 08:34:33.427759] [0x0000700000635000] [trace] Dummy11 V-REP World
5.39991e-07 -1 0 0.0308969
1 5.39991e-07 0 -1.34075
0 0 1 0.988837
0 0 0 1
[2016-11-04 08:34:33.431951] [0x0000700000635000] [trace] Dummy01 RBDyn World
4.66234e-07 -1 0 0.0308969
1 4.66234e-07 -0 -1.34075
-0 0 1 0.988837
0 0 0 1
[2016-11-04 08:34:33.427826] [0x0000700000635000] [trace] Dummy11 V-REP JointInPrevFrame
2.58279e-05 1 0 -0.0808974
-1 2.58279e-05 -0 0.0157479
-0 0 1 0.148837
0 0 0 1
[2016-11-04 08:34:33.432087] [0x0000700000635000] [trace] Dummy01 RBDyn ParentLinkToSon
2.57598e-05 1 -0 -0.0808974
-1 2.57598e-05 0 0.0157479
0 -0 1 0.148837
0 0 0 1
[2016-11-04 08:34:33.428056] [0x0000700000635000] [trace] Dummy12 V-REP World
-5.96047e-07 -1.19209e-07 -1 0.0308969
-1 -1.19209e-07 4.76837e-07 -1.34075
-2.84217e-14 1 -2.38419e-07 1.19634
0 0 0 1
[2016-11-04 08:34:33.432185] [0x0000700000635000] [trace] Dummy02 RBDyn World
-4.24087e-07 -3.42286e-08 -1 0.0308969
-1 -4.21468e-08 4.24087e-07 -1.34075
-4.21468e-08 1 -1.34359e-07 1.19634
0 0 0 1
[2016-11-04 08:34:33.428106] [0x0000700000635000] [trace] Dummy12 V-REP JointInPrevFrame
-1 -4.21469e-08 -4.21468e-08 0
-4.21469e-08 3.42285e-08 1 0
-4.21468e-08 1 -1.34359e-07 0.2075
0 0 0 1
[2016-11-04 08:34:33.432309] [0x0000700000635000] [trace] Dummy02 RBDyn ParentLinkToSon
-1 -4.21469e-08 -4.21468e-08 0
-4.21469e-08 3.42285e-08 1 0
-4.21468e-08 1 -1.34359e-07 0.2075
0 0 0 1
[2016-11-04 08:34:33.428351] [0x0000700000635000] [trace] Dummy13 V-REP World
5.39991e-07 -1 -4.21469e-08 0.0308969
1 5.39991e-07 -4.21468e-08 -1.34075
4.21469e-08 -4.21468e-08 1 1.41734
0 0 0 1
[2016-11-04 08:34:33.432410] [0x0000700000635000] [trace] Dummy03 RBDyn World
5.71601e-07 -1 1.0013e-07 0.0308969
1 5.71601e-07 -6.32203e-08 -1.34075
6.32203e-08 -1.0013e-07 1 1.41734
0 0 0 1
[2016-11-04 08:34:33.428402] [0x0000700000635000] [trace] Dummy13 V-REP JointInPrevFrame
-1 -1.47514e-07 2.10734e-08 0
2.10734e-08 3.42285e-08 1 0.221
-1.47514e-07 1 -1.34359e-07 -5.96046e-08
0 0 0 1
[2016-11-04 08:34:33.432551] [0x0000700000635000] [trace] Dummy03 RBDyn ParentLinkToSon
-1 -1.47514e-07 2.10734e-08 0
2.10734e-08 3.42285e-08 1 0.221
-1.47514e-07 1 -1.34359e-07 -5.96046e-08
0 0 0 1
[2016-11-04 08:34:33.428599] [0x0000700000635000] [trace] Dummy14 V-REP World
-7.15256e-07 2.68221e-07 1 0.0308968
-1 -1.19209e-07 -5.66244e-07 -1.34075
-2.98024e-08 -1 1.19209e-07 1.61634
0 0 0 1
[2016-11-04 08:34:33.432664] [0x0000700000635000] [trace] Dummy04 RBDyn World
-5.71601e-07 2.02816e-07 1 0.0308969
-1 -2.10735e-08 -5.71601e-07 -1.34075
2.10734e-08 -1 3.02946e-07 1.61634
0 0 0 1
[2016-11-04 08:34:33.428672] [0x0000700000635000] [trace] Dummy14 V-REP JointInPrevFrame
-1 -8.42937e-08 1.06581e-14 0
1.06581e-14 -3.02946e-07 -1 0
8.42937e-08 -1 2.02816e-07 0.199
0 0 0 1
[2016-11-04 08:34:33.432794] [0x0000700000635000] [trace] Dummy04 RBDyn ParentLinkToSon
-1 -8.42937e-08 6.43796e-15 0
1.48783e-14 -3.02946e-07 -1 0
8.42937e-08 -1 2.02816e-07 0.199
0 0 0 1
[2016-11-04 08:34:33.428940] [0x0000700000635000] [trace] Dummy15 V-REP World
5.39991e-07 -1 0 0.0308968
1 5.39991e-07 0 -1.34075
0 0 1 1.79584
0 0 0 1
[2016-11-04 08:34:33.432881] [0x0000700000635000] [trace] Dummy05 RBDyn World
6.55895e-07 -1 -1.68587e-07 0.0308967
1 6.55895e-07 2.10735e-08 -1.34075
-2.10734e-08 2.07625e-14 1 1.79584
0 0 0 1
[2016-11-04 08:34:33.429029] [0x0000700000635000] [trace] Dummy15 V-REP JointInPrevFrame
-1 -8.42937e-08 7.10543e-15 0
7.10543e-15 -3.02946e-07 -1 -0.1795
8.42937e-08 -1 3.42285e-08 -8.9407e-08
0 0 0 1
[2016-11-04 08:34:33.432977] [0x0000700000635000] [trace] Dummy05 RBDyn ParentLinkToSon
-1 -8.42937e-08 -4.22018e-15 0
1.8431e-14 -3.02946e-07 -1 -0.1795
8.42937e-08 -1 3.42285e-08 -8.9407e-08
0 0 0 1
[2016-11-04 08:34:33.429278] [0x0000700000635000] [trace] Dummy16 V-REP World
-5.96047e-07 -1.19209e-07 -1 0.096597
-1 -5.68434e-14 5.96046e-07 -1.34075
-3.55271e-14 1 -1.19209e-07 2.01634
0 0 0 1
[2016-11-04 08:34:33.433062] [0x0000700000635000] [trace] Dummy06 RBDyn World
-5.71602e-07 -3.42286e-08 -1 0.0965968
-1 2.10735e-08 5.71602e-07 -1.34075
2.10734e-08 1 -1.34359e-07 2.01634
0 0 0 1
[2016-11-04 08:34:33.429381] [0x0000700000635000] [trace] Dummy16 V-REP JointInPrevFrame
-1 0 -8.42937e-08 0
-8.42937e-08 -1.34359e-07 1 -0.0657001
0 1 -1.34359e-07 0.2205
0 0 0 1
[2016-11-04 08:34:33.433222] [0x0000700000635000] [trace] Dummy06 RBDyn ParentLinkToSon
-1 1.13256e-14 -8.42937e-08 0
-8.42937e-08 -1.34359e-07 1 -0.0657001
1.13256e-14 1 -1.34359e-07 0.2205
0 0 0 1
[2016-11-04 08:34:33.429645] [0x0000700000635000] [trace] Dummy17 V-REP World
5.39991e-07 -1 0 0.0308968
1 5.39991e-07 0 -1.34075
0 0 1 2.09244
0 0 0 1
[2016-11-04 08:34:33.433297] [0x0000700000635000] [trace] Dummy07 RBDyn World
6.55896e-07 -1 1.0013e-07 0.0308966
1 6.55895e-07 2.10734e-08 -1.34075
-2.10734e-08 -2.68718e-07 1 2.09244
0 0 0 1
[2016-11-04 08:34:33.429760] [0x0000700000635000] [trace] Dummy17 V-REP JointInPrevFrame
-1 -8.42937e-08 0 0
0 -1.34359e-07 1 0.0761001
-8.42937e-08 1 -1.34359e-07 0.0657003
0 0 0 1
[2016-11-04 08:34:33.433441] [0x0000700000635000] [trace] Dummy07 RBDyn ParentLinkToSon
-1 -8.42937e-08 1.13256e-14 0
1.13256e-14 -1.34359e-07 1 0.0761001
-8.42937e-08 1 -1.34359e-07 0.0657003
0 0 0 1
Raw
X_t.txt
Xt_ std::__1::vector<sva::PTransform<double>, std::__1::allocator<sva::PTransform<double> > > size=10
[0] sva::PTransform<double>
E_ sva::PTransform<double>::matrix3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >
m_storage Eigen::DenseStorage<double, 9, 3, 3, 0>
m_data Eigen::internal::plain_array<double, 9, 0, 0>
array double [9]
[0] double -0.99999999931219463 -0.99999999931219463
[1] double -0.000026226043692152668 -0.000026226043692152668
[2] double 0 0
[3] double 0.000026226043692152668 0.000026226043692152668
[4] double -0.99999999931219463 -0.99999999931219463
[5] double 0 0
[6] double 0 0
[7] double 0 0
[8] double 1 1
r_ sva::PTransform<double>::vector3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >
m_storage Eigen::DenseStorage<double, 3, 3, 1, 0>
m_data Eigen::internal::plain_array<double, 3, 0, 0>
array double [3]
[0] double -0.050000101327896118 -0.050000101327896118
[1] double -1.3249999284744263 -1.3249999284744263
[2] double 0.83999991416931152 0.83999991416931152
[1] sva::PTransform<double>
E_ sva::PTransform<double>::matrix3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >
m_storage Eigen::DenseStorage<double, 9, 3, 3, 0>
m_data Eigen::internal::plain_array<double, 9, 0, 0>
array double [9]
[0] double 0.00002575981039232289 0.00002575981039232289
[1] double 1.00000003372955 1.00000003372955
[2] double 0 0
[3] double -1.00000003372955 -1.00000003372955
[4] double 0.00002575981039232289 0.00002575981039232289
[5] double 0 0
[6] double 0 0
[7] double 0 0
[8] double 1 1
r_ sva::PTransform<double>::vector3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >
m_storage Eigen::DenseStorage<double, 3, 3, 1, 0>
m_data Eigen::internal::plain_array<double, 3, 0, 0>
array double [3]
[0] double -0.080897390842437744 -0.080897390842437744
[1] double 0.015747904777526855 0.015747904777526855
[2] double 0.14883726835250854 0.14883726835250854
[2] sva::PTransform<double>
E_ sva::PTransform<double>::matrix3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >
m_storage Eigen::DenseStorage<double, 9, 3, 3, 0>
m_data Eigen::internal::plain_array<double, 9, 0, 0>
array double [9]
[0] double -0.99999989986968707 -0.99999989986968707
[1] double -0.000000042146847122117879 -0.000000042146847122117879
[2] double -0.000000042146843569404558 -0.000000042146843569404558
[3] double -0.000000042146847122117879 -0.000000042146847122117879
[4] double 0.00000013435884538282039 0.00000013435884538282039
[5] double 0.99999994993483998 0.99999994993483998
[6] double -0.000000042146843569404558 -0.000000042146843569404558
[7] double 0.99999994993483998 0.99999994993483998
[8] double -0.000000034228536005542765 -0.000000034228536005542765
r_ sva::PTransform<double>::vector3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >
m_storage Eigen::DenseStorage<double, 3, 3, 1, 0>
m_data Eigen::internal::plain_array<double, 3, 0, 0>
array double [3]
[0] double 0 0
[1] double 0 0
[2] double 0.20750010013580322 0.20750010013580322
[3] sva::PTransform<double>
E_ sva::PTransform<double>::matrix3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >
m_storage Eigen::DenseStorage<double, 9, 3, 3, 0>
m_data Eigen::internal::plain_array<double, 9, 0, 0>
array double [9]
[0] double -0.99999989986966797 -0.99999989986966797
[1] double -0.00000014751394274909829 -0.00000014751394274909829
[2] double 0.000000021073423865832597 0.000000021073423865832597
[3] double 0.000000021073411431337249 0.000000021073411431337249
[4] double 0.00000013435885259927005 0.00000013435885259927005
[5] double 0.99999994993483587 0.99999994993483587
[6] double -0.00000014751394452545452 -0.00000014751394452545452
[7] double 0.99999994993482521 0.99999994993482521
[8] double -0.000000034228528678070802 -0.000000034228528678070802
r_ sva::PTransform<double>::vector3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >
m_storage Eigen::DenseStorage<double, 3, 3, 1, 0>
m_data Eigen::internal::plain_array<double, 3, 0, 0>
array double [3]
[0] double 0 0
[1] double 0.22099995613098145 0.22099995613098145
[2] double -0.000000059604644775390625 -0.000000059604644775390625
[4] sva::PTransform<double>
E_ sva::PTransform<double>::matrix3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >
m_storage Eigen::DenseStorage<double, 9, 3, 3, 0>
m_data Eigen::internal::plain_array<double, 9, 0, 0>
array double [9]
[0] double -0.99999989986965487 -0.99999989986965487
[1] double -0.000000084293680642928901 -0.000000084293680642928901
[2] double 0.000000000000010658138700443453 0.000000000000010658138700443453
[3] double 0.000000000000010658138700443453 0.000000000000010658138700443453
[4] double -0.00000020281590140669437 -0.00000020281590140669437
[5] double -0.99999994993479723 -0.99999994993479723
[6] double 0.000000084293680642928901 0.000000084293680642928901
[7] double -0.99999994993479368 -0.99999994993479368
[8] double 0.00000030294624298043971 0.00000030294624298043971
r_ sva::PTransform<double>::vector3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >
m_storage Eigen::DenseStorage<double, 3, 3, 1, 0>
m_data Eigen::internal::plain_array<double, 3, 0, 0>
array double [3]
[0] double 0 0
[1] double 0 0
[2] double 0.19900000095367432 0.19900000095367432
[5] sva::PTransform<double>
E_ sva::PTransform<double>::matrix3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >
m_storage Eigen::DenseStorage<double, 9, 3, 3, 0>
m_data Eigen::internal::plain_array<double, 9, 0, 0>
array double [9]
[0] double -0.99999973128230168 -0.99999973128230168
[1] double -0.000000084293669984792603 -0.000000084293669984792603
[2] double 0.0000000000000071054245981264784 0.0000000000000071054245981264784
[3] double 0.0000000000000071054245981264784 0.0000000000000071054245981264784
[4] double -0.000000034228512690859247 -0.000000034228512690859247
[5] double -0.99999986564113841 -0.99999986564113841
[6] double 0.000000084293669984792603 0.000000084293669984792603
[7] double -0.99999986564113486 -0.99999986564113486
[8] double 0.00000030294620756432522 0.00000030294620756432522
r_ sva::PTransform<double>::vector3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >
m_storage Eigen::DenseStorage<double, 3, 3, 1, 0>
m_data Eigen::internal::plain_array<double, 3, 0, 0>
array double [3]
[0] double 0 0
[1] double -0.17950022220611572 -0.17950022220611572
[2] double -0.000000089406967163085938 -0.000000089406967163085938
[6] sva::PTransform<double>
E_ sva::PTransform<double>::matrix3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >
m_storage Eigen::DenseStorage<double, 9, 3, 3, 0>
m_data Eigen::internal::plain_array<double, 9, 0, 0>
array double [9]
[0] double -0.99999973128231633 -0.99999973128231633
[1] double 0 0
[2] double -0.000000084293680033383518 -0.000000084293680033383518
[3] double -0.000000084293680033383518 -0.000000084293680033383518
[4] double 0.00000013435884005374987 0.00000013435884005374987
[5] double 0.99999986564115639 0.99999986564115639
[6] double 0 0
[7] double 0.99999986564115994 0.99999986564115994
[8] double 0.00000013435884005374987 0.00000013435884005374987
r_ sva::PTransform<double>::vector3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >
m_storage Eigen::DenseStorage<double, 3, 3, 1, 0>
m_data Eigen::internal::plain_array<double, 3, 0, 0>
array double [3]
[0] double 0 0
[1] double -0.065700113773345947 -0.065700113773345947
[2] double 0.22049987316131592 0.22049987316131592
[7] sva::PTransform<double>
E_ sva::PTransform<double>::matrix3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >
m_storage Eigen::DenseStorage<double, 9, 3, 3, 0>
m_data Eigen::internal::plain_array<double, 9, 0, 0>
array double [9]
[0] double -0.99999973128231633 -0.99999973128231633
[1] double -0.000000084293680033383518 -0.000000084293680033383518
[2] double 0 0
[3] double 0 0
[4] double 0.00000013435884005374987 0.00000013435884005374987
[5] double 0.99999986564115994 0.99999986564115994
[6] double -0.000000084293680033383518 -0.000000084293680033383518
[7] double 0.99999986564115639 0.99999986564115639
[8] double 0.00000013435884005374987 0.00000013435884005374987
r_ sva::PTransform<double>::vector3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >
m_storage Eigen::DenseStorage<double, 3, 3, 1, 0>
m_data Eigen::internal::plain_array<double, 3, 0, 0>
array double [3]
[0] double 0 0
[1] double 0.07610011100769043 0.07610011100769043
[2] double 0.065700292587280273 0.065700292587280273
[8] sva::PTransform<double>
E_ sva::PTransform<double>::matrix3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >
m_storage Eigen::DenseStorage<double, 9, 3, 3, 0>
m_data Eigen::internal::plain_array<double, 9, 0, 0>
array double [9]
[0] double -0.000085810281595932736 -0.000085810281595932736
[1] double 0.99999986938111107 0.99999986938111107
[2] double 0.0000026427342667001419 0.0000026427342667001419
[3] double 0.066806123920306937 0.066806123920306937
[4] double 0.0000085048854123748185 0.0000085048854123748185
[5] double -0.99776584822842118 -0.99776584822842118
[6] double -0.9977658445627251 -0.9977658445627251
[7] double -0.000085568667660962383 -0.000085568667660962383
[8] double -0.066805997470569256 -0.066805997470569256
r_ sva::PTransform<double>::vector3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >
m_storage Eigen::DenseStorage<double, 3, 3, 1, 0>
m_data Eigen::internal::plain_array<double, 3, 0, 0>
array double [3]
[0] double 0.00069069862365722656 0.00069069862365722656
[1] double -0.18983113765716553 -0.18983113765716553
[2] double 0.21080565452575684 0.21080565452575684
[9] sva::PTransform<double>
E_ sva::PTransform<double>::matrix3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >
m_storage Eigen::DenseStorage<double, 9, 3, 3, 0>
m_data Eigen::internal::plain_array<double, 9, 0, 0>
array double [9]
[0] double -5.141686914372488E+75 -5.141686914372488E+75
[1] double 6.0525043654517257E+69 6.0525043654517257E+69
[2] double 5.1431719935909431E+75 5.1431719935909431E+75
[3] double 4.1915689661375069E+73 4.1915689661375069E+73
[4] double -1.028617361159347E+76 -1.028617361159347E+76
[5] double -6.0525043654517257E+69 -6.0525043654517257E+69
[6] double 5.1430011890582994E+75 5.1430011890582994E+75
[7] double 4.1915689661375069E+73 4.1915689661375069E+73
[8] double -5.1446575017536247E+75 -5.1446575017536247E+75
r_ sva::PTransform<double>::vector3_t
Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> > Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >
m_storage Eigen::DenseStorage<double, 3, 3, 1, 0>
m_data Eigen::internal::plain_array<double, 3, 0, 0>
array double [3]
[0] double 0.0000000000000000000000000000000000000098582804315653778 0.0000000000000000000000000000000000000098582804315653778
[1] double 0.000000000000000000000000000000000000000040178029569121155 0.000000000000000000000000000000000000000040178029569121155
[2] double 0.000000000000000039426468710209044 0.000000000000000039426468710209044
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