Made trac_ik_lib optional dep of sns_ik_examples

RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library

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Made trac_ik_lib optional dep of sns_ik_examples #44

Closed IanTheEngineer closed 8 years ago

IanTheEngineer commented 8 years ago

This commit makes trac_ik_lib an optional dependency by commenting out dependencies in sns_ik_examples package.xml and CMakeLists.txt. Also, a conditional compile was added in the form of a preprocessor pound define for USE_TRAC.

rethink-forrest commented 8 years ago

If you just remove those lines relating to trackik_solver.getKDLChain and trackIK_solver.getKDLLimits, this commit looks good.

IanTheEngineer commented 8 years ago

Sounds good. We were overwriting them before for some reason, but I agree, that should be unnecessary.

IanTheEngineer commented 8 years ago

@rethink-forrest i think this PR is good to go. Fire away!