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Commit fa20e934 authored by Florian Walch's avatar Florian Walch
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Fix unused parameter bugs in FrankaModelHandle

Fixes #78.
parent 541b5fc1
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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
......
......@@ -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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