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Implement missing virtual function from kinematics_interface:master #9

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Implement missing virtual function from kinematics_interface:master #9

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4 changes: 4 additions & 0 deletions dynamics_interface_kdl/include/dynamics_interface_kdl/dynamics_interface_kdl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,10 @@ class DynamicsInterfaceKDL : public dynamics_interface::DynamicsInterface

bool calculate_gravity(const Eigen::VectorXd & joint_pos, Eigen::VectorXd & gravity) override;

bool calculate_frame_difference(
Eigen::Matrix<double, 7, 1> & x_a, Eigen::Matrix<double, 7, 1> & x_b, double dt,
Eigen::Matrix<double, 6, 1> & delta_x) override;

bool convert_cartesian_deltas_to_joint_deltas(
const Eigen::VectorXd & joint_pos, const Eigen::Matrix<double, 6, 1> & delta_x,
const std::string & link_name, Eigen::VectorXd & delta_theta) override;
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13 changes: 13 additions & 0 deletions dynamics_interface_kdl/src/dynamics_interface_kdl.cpp
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Expand Up @@ -471,6 +471,19 @@ bool DynamicsInterfaceKDL::verify_gravity(const Eigen::VectorXd & gravity)
return true;
}

bool DynamicsInterfaceKDL::calculate_frame_difference(
Eigen::Matrix<double, 7, 1> & x_a, Eigen::Matrix<double, 7, 1> & x_b, double dt,
Eigen::Matrix<double, 6, 1> & delta_x)
{
// TODO: implement this, for now, just return false
(void)x_a;
(void)x_b;
(void)dt;
(void)delta_x;
RCLCPP_ERROR(LOGGER, "calculate_frame_difference is not currently implemented.");
return false;
}

} // namespace dynamics_interface_kdl

#include "pluginlib/class_list_macros.hpp"
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