Ambiguous overload on MetaSkeleton::getLinearJacobianDeriv

[mkoval]

Both of these overloads match getLinearJacobianDeriv(const JacobianNode*):

  virtual math::LinearJacobian getLinearJacobianDeriv(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

  virtual math::LinearJacobian getLinearJacobianDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset = Eigen::Vector3d::Zero(),
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

Trying to call this overload produces a compile-time error. I suggest removing the default value on _inCoordinatesOf in the first overload to remove the ambiguity.

[mxgrey]

Thanks for reporting this. I disagree with your suggested fix, though. The better fix would be to remove the default argument for _localOffset, because the version that does not take in a local offset (the first one) is more efficient, so we should default to that one whenever possible.

I'm going to patch this up with a regression test right now.

[jslee02]

I believe this is addressed by #628 .