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Commit 57d2dbdf authored by Florian Walch's avatar Florian Walch
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Merge pull request #116 in SWDEV/franka_ros from fix-unused-parameters to develop

* commit 'fa20e934':
  Fix unused parameter bugs in FrankaModelHandle
parents 541b5fc1 fa20e934
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...@@ -18,6 +18,7 @@ Requires `libfranka` >= 0.5.0 ...@@ -18,6 +18,7 @@ Requires `libfranka` >= 0.5.0
* Added support for ROS Melodic Morenia. * Added support for ROS Melodic Morenia.
* Raised minimum CMake version to 3.4 to match `libfranka`. * Raised minimum CMake version to 3.4 to match `libfranka`.
* Add rosparam to choose value of `franka::RealtimeConfig`. * Add rosparam to choose value of `franka::RealtimeConfig`.
* Fix unused parameter bugs in `FrankaModelHandle` (#78).
## 0.6.0 - 2018-08-08 ## 0.6.0 - 2018-08-08
......
...@@ -221,7 +221,7 @@ class FrankaModelHandle { ...@@ -221,7 +221,7 @@ class FrankaModelHandle {
const std::array<double, 16>& F_T_EE, // NOLINT (readability-identifier-naming) const std::array<double, 16>& F_T_EE, // NOLINT (readability-identifier-naming)
const std::array<double, 16>& EE_T_K) // NOLINT (readability-identifier-naming) const std::array<double, 16>& EE_T_K) // NOLINT (readability-identifier-naming)
const { const {
return model_->bodyJacobian(frame, *robot_state_); return model_->bodyJacobian(frame, q, F_T_EE, EE_T_K);
} }
/** /**
...@@ -261,7 +261,7 @@ class FrankaModelHandle { ...@@ -261,7 +261,7 @@ class FrankaModelHandle {
const std::array<double, 16>& F_T_EE, // NOLINT (readability-identifier-naming) const std::array<double, 16>& F_T_EE, // NOLINT (readability-identifier-naming)
const std::array<double, 16>& EE_T_K) // NOLINT (readability-identifier-naming) const std::array<double, 16>& EE_T_K) // NOLINT (readability-identifier-naming)
const { const {
return model_->zeroJacobian(frame, *robot_state_); return model_->zeroJacobian(frame, q, F_T_EE, EE_T_K);
} }
private: private:
......
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