cleanup LMA kinematics solver

- perform similar cleanup as in ros-planning#1294 - actually use KDL's LMA solver (was instantiated but not used) - remove notion of mimic joints, as the LMA solver doesn't support this
ubi-agni · Jan 10, 2019 · b34613a · b34613a
1 parent dbc236b
commit b34613a
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diff --git a/moveit_kinematics/lma_kinematics_plugin/CMakeLists.txt b/moveit_kinematics/lma_kinematics_plugin/CMakeLists.txt
@@ -1,8 +1,6 @@
 set(MOVEIT_LIB_NAME moveit_lma_kinematics_plugin)
 
-add_library(${MOVEIT_LIB_NAME} src/lma_kinematics_plugin.cpp
-  src/chainiksolver_pos_lma_jl_mimic.cpp
-  src/chainiksolver_vel_pinv_mimic.cpp)
+add_library(${MOVEIT_LIB_NAME} src/lma_kinematics_plugin.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES})

diff --git a/...a_kinematics_plugin/include/moveit/lma_kinematics_plugin/chainiksolver_pos_lma_jl_mimic.h b/...a_kinematics_plugin/include/moveit/lma_kinematics_plugin/chainiksolver_pos_lma_jl_mimic.h
diff --git a/...lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/chainiksolver_vel_pinv_mimic.h b/...lma_kinematics_plugin/include/moveit/lma_kinematics_plugin/chainiksolver_vel_pinv_mimic.h