Update gazebo_usv_dynamics_plugin.cpp (#492)

PX4 · May 21, 2020 · ab527bf · ab527bf
1 parent 4acd679
commit ab527bf
Showing 1 changed file with 2 additions and 5 deletions.
diff --git a/src/gazebo_usv_dynamics_plugin.cpp b/src/gazebo_usv_dynamics_plugin.cpp
@@ -247,11 +247,8 @@ void UsvDynamicsPlugin::Update()
 
   // Vehicle frame transform
   ignition::math::Quaterniond vq(kEuler.X(), kEuler.Y(), kEuler.Z());
-  #if GAZEBO_MAJOR_VERSION >= 8
-    ignition::math::Matrix4 xformV(vq);
-  #else
-    ignition::math::Matrix4<double> xformV(vq);
-  #endif
+
+  ignition::math::Matrix4<double> xformV(vq);
 
   // Sum all forces - in body frame
   const Eigen::VectorXd kForceSum = kAmassVec + kDvec;