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Simplify kdl now that kinetic support is dropped #237

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Aug 18, 2020
Merged

Simplify kdl now that kinetic support is dropped #237

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7 changes: 0 additions & 7 deletions ...dl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;

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