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Nikhil Ambardar
franka_description
Commits
fa20e934
Commit
fa20e934
authored
5 years ago
by
Florian Walch
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Fix unused parameter bugs in FrankaModelHandle
Fixes #78.
parent
541b5fc1
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CHANGELOG.md
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CHANGELOG.md
franka_hw/include/franka_hw/franka_model_interface.h
+2
-2
2 additions, 2 deletions
franka_hw/include/franka_hw/franka_model_interface.h
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3 additions
and
2 deletions
CHANGELOG.md
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View file @
fa20e934
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@@ -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
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franka_hw/include/franka_hw/franka_model_interface.h
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fa20e934
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@@ -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
:
...
...
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