Merge branch 'master' into armem/dev

source/RobotAPI/libraries/core/test/CartesianVelocityControllerTest.cpp

@@ -130,8 +130,8 @@ BOOST_AUTO_TEST_CASE(testJointLimitAwareness)
         rns->setJointValues(oldJV + jointVel2 * accuracy);
         Eigen::VectorXf resultCartesianVel2 = ((h->_tcp->getPositionInRootFrame() - posBefore) / accuracy);
 
-        Eigen::Vector3f diff = (resultCartesianVel - cartesianVel);
-        Eigen::Vector3f diff2 = (resultCartesianVel2 - cartesianVel);
+        Eigen::Vector3f diff = (resultCartesianVel - cartesianVel.head<3>());
+        Eigen::Vector3f diff2 = (resultCartesianVel2 - cartesianVel.head<3>());
 
         if (!((diff - diff2).norm() < 0.5 || diff2.norm() < diff.norm()))
         {