nits

Signed-off-by: Tomas Lorente <jtlorente@ekumenlabs.com>
gazebosim · May 19, 2021 · 2592a48 · 2592a48
1 parent b27dbf5
commit 2592a48
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Showing 2 changed files with 0 additions and 19 deletions.
diff --git a/bullet/src/KinematicsFeatures.cc b/bullet/src/KinematicsFeatures.cc
@@ -65,12 +65,6 @@ FrameData3d KinematicsFeatures::FrameDataRelativeToWorld(
   btVector3 omega = rigidBody->getAngularVelocity();
   btVector3 vel = rigidBody->getLinearVelocity();
 
-  // Transform to world frame
-  // const auto matBaseToWorld =
-  //   btMatrix3x3(rigidBody->getWorldToBaseRot()).inverse();
-  // omega = matBaseToWorld * omega;
-  // vel = matBaseToWorld * vel;
-
   data.linearVelocity = convert(vel) + ignition::math::eigen3::convert(
     ignition::math::eigen3::convert(convert(omega)).Cross(
     -ignition::math::eigen3::convert(data.pose).Rot() *

diff --git a/bullet/src/SDFFeatures_TEST.cc b/bullet/src/SDFFeatures_TEST.cc
@@ -120,24 +120,11 @@ TEST(SDFFeatures_TEST, WorldIsParentOrChild)
         CreateTestModel(world, "test0", std::nullopt, std::nullopt);
     EXPECT_EQ(nullptr, joint);
   }
-  /*
-  {
-    const auto &[model, joint] = CreateTestModel(world, "test1", parent, child);
-    EXPECT_NE(nullptr, joint);
-    }
-  */
   {
     const auto &[model, joint] =
         CreateTestModel(world, "test2", std::nullopt, child);
     EXPECT_NE(nullptr, joint);
   }
-  /*
-  {
-    const auto &[model, joint] =
-        CreateTestModel(world, "test3", parent, std::nullopt);
-    EXPECT_EQ(nullptr, joint);
-   }
-  */
 }
 
 int main(int argc, char *argv[])