diff --git a/sns_ik_lib/src/sns_position_ik.cpp b/sns_ik_lib/src/sns_position_ik.cpp
index 525b250..a2430a4 100644
--- a/sns_ik_lib/src/sns_position_ik.cpp
+++ b/sns_ik_lib/src/sns_position_ik.cpp
@@ -28,8 +28,8 @@ namespace sns_ik {
 SNSPositionIK::SNSPositionIK(KDL::Chain chain, std::shared_ptr<SNSVelocityIK> velocity_ik, double eps) :
     m_chain(chain),
     m_ikVelSolver(velocity_ik),
-    m_positionFK(chain),
-    m_jacobianSolver(chain),
+    m_positionFK(m_chain),
+    m_jacobianSolver(m_chain),
     m_linearMaxStepSize(0.2),
     m_angularMaxStepSize(0.2),
     m_maxIterations(150),
diff --git a/sns_ik_lib/test/sns_ik_pos_test.cpp b/sns_ik_lib/test/sns_ik_pos_test.cpp
index c2283ea..c31b3b1 100644
--- a/sns_ik_lib/test/sns_ik_pos_test.cpp
+++ b/sns_ik_lib/test/sns_ik_pos_test.cpp
@@ -117,7 +117,7 @@ PosTestResult runPosIkSingleTest(int seed, const KDL::JntArray& qLow, const KDL:
   }
 
   // loop over each solver type
-  KDL::JntArray qSoln;
+  KDL::JntArray qSoln(qLow.rows());
   PosTestResult result;
   result.solveTime = ros::Duration(0);
   result.nPass = 0;