From a654ba3fb031190e99d98f7627ece31fabdd7689 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Tue, 28 Jul 2020 16:00:35 -0700
Subject: [PATCH] Simplify kdl now that kinetic support is dropped

---
 .../kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp  | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
index ce8ad72bb4..1a678be2f2 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
+++ b/moveit_kinematics/kdl_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;