diff --git a/franka_hw/include/franka_hw/franka_cartesian_command_interface.h b/franka_hw/include/franka_hw/franka_cartesian_command_interface.h index 1e04ce7f528eec24d56048b1cc14eab66848e66a..df4a98c469e9acf47bc6eaabe06736b68d65e509 100644 --- a/franka_hw/include/franka_hw/franka_cartesian_command_interface.h +++ b/franka_hw/include/franka_hw/franka_cartesian_command_interface.h @@ -32,7 +32,6 @@ class FrankaCartesianPoseHandle : public FrankaStateHandle { * Sets the given command. * * @param[in] command Command to set. - * @param[in] elbow Elbow to set. Default none. */ void setCommand(const std::array<double, 16>& command) noexcept { *command_ = command; @@ -92,7 +91,10 @@ class FrankaCartesianVelocityHandle : public FrankaStateHandle { * * @param[in] command Command to set. */ - void setCommand(std::array<double, 6>& command) noexcept { *command_ = command; } + void setCommand(std::array<double, 6>& command) noexcept { + *command_ = command; + *elbow_ = {}; + } /** * Sets the given command.