From ab527bf4a5bc1e0b8d83ea617fe8d4604d417da4 Mon Sep 17 00:00:00 2001 From: Pandacoolcool <1308455330@qq.com> Date: Fri, 22 May 2020 01:34:57 +0800 Subject: [PATCH] Update gazebo_usv_dynamics_plugin.cpp (#492) --- src/gazebo_usv_dynamics_plugin.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/src/gazebo_usv_dynamics_plugin.cpp b/src/gazebo_usv_dynamics_plugin.cpp index 3a46c4da24..01e8a8e095 100644 --- 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 xformV(vq); - #endif + + ignition::math::Matrix4 xformV(vq); // Sum all forces - in body frame const Eigen::VectorXd kForceSum = kAmassVec + kDvec;