From 84c1e62ba690aa8095fb3ac4ee9242e8cce5b224 Mon Sep 17 00:00:00 2001
From: asantamaria <somriu@gmail.com>
Date: Thu, 25 Aug 2016 08:58:14 +0200
Subject: [PATCH] minor change

---
 src/tasks/jl.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/tasks/jl.cpp b/src/tasks/jl.cpp
index 9b972d6..b63d5c9 100644
--- a/src/tasks/jl.cpp
+++ b/src/tasks/jl.cpp
@@ -32,9 +32,6 @@ void CTaskJL::TaskErrorJac(UAM::CArm& arm, const Eigen::MatrixXd& jntlim_pos_des
   Eigen::MatrixXd AAL;
   TaskErrorCommon(arm,pow_n,jntlim_pos_des,jntlim_pos_error,AAL);
 
-  // Get current arm joint errors
-  jntlim_pos_error = jntlim_pos_des-arm.jnt_pos;
-
   // Task sigma
   sigmaL = jntlim_pos_error.transpose()*AAL*jntlim_pos_error;
 
-- 
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