From fa20e934ad5e5442c77efbbc24e3b0d3306b4bd0 Mon Sep 17 00:00:00 2001 From: Florian Walch <florian.walch@franka.de> Date: Wed, 6 Nov 2019 07:39:31 +0100 Subject: [PATCH] Fix unused parameter bugs in FrankaModelHandle Fixes #78. --- CHANGELOG.md | 1 + franka_hw/include/franka_hw/franka_model_interface.h | 4 ++-- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index c4cd355..5527d9b 100644 --- a/CHANGELOG.md +++ b/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 diff --git a/franka_hw/include/franka_hw/franka_model_interface.h b/franka_hw/include/franka_hw/franka_model_interface.h index b07172a..2bec190 100644 --- a/franka_hw/include/franka_hw/franka_model_interface.h +++ b/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: -- GitLab