Simplify kdl now that kinetic support is dropped (#237)

moveit · Aug 18, 2020 · 451b944 · 451b944
1 parent 9e6868a
commit 451b944
Showing 1 changed file with 0 additions and 7 deletions.
diff --git a/...dl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp b/...dl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
@@ -62,14 +62,7 @@ class ChainIkSolverVelMimicSVD : public ChainIkSolverVel
                                     const std::vector<kdl_kinematics_plugin::JointMimic>& mimic_joints,
                                     bool position_ik = false, double threshold = 0.001);
 
-// TODO: simplify after kinetic support is dropped
-#define KDL_VERSION_LESS(a, b, c) ((KDL_VERSION) < ((a << 16) | (b << 8) | c))
-#if KDL_VERSION_LESS(1, 4, 0)
-  void updateInternalDataStructures();
-#else
   void updateInternalDataStructures() override;
-#endif
-#undef KDL_VERSION_LESS
 
   ~ChainIkSolverVelMimicSVD() override;