Fix unused parameter bugs in FrankaModelHandle

Fixes #78.

CHANGELOG.md

@@ -18,6 +18,7 @@ Requires `libfranka` >= 0.5.0
   * Added support for ROS Melodic Morenia.
   * Raised minimum CMake version to 3.4 to match `libfranka`.
   * Add rosparam to choose value of `franka::RealtimeConfig`.
+  * Fix unused parameter bugs in `FrankaModelHandle` (#78).
 
 ## 0.6.0 - 2018-08-08
 

franka_hw/include/franka_hw/franka_model_interface.h

@@ -221,7 +221,7 @@ class FrankaModelHandle {
       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 {
-    return model_->bodyJacobian(frame, *robot_state_);
+    return model_->bodyJacobian(frame, q, F_T_EE, EE_T_K);
   }
 
   /**
@@ -261,7 +261,7 @@ class FrankaModelHandle {
       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 {
-    return model_->zeroJacobian(frame, *robot_state_);
+    return model_->zeroJacobian(frame, q, F_T_EE, EE_T_K);
   }
 
  private: