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Remove accidentally added function Co-authored-by: Griffin Addison <[email protected]>
KodlabPenn · Dec 14, 2023 · af89c7c · af89c7c
1 parent acbb387
commit af89c7c
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diff --git a/include/kodlab_mjbots_sdk/joint_moteus.h b/include/kodlab_mjbots_sdk/joint_moteus.h
@@ -175,13 +175,6 @@ class JointMoteus: public JointBase
          */
         float get_velocity() const override;
 
-        /**
-         * @brief Get the torque command. Overrides function in joint_base.h
-         * 
-         * @return float
-         */
-        float get_servo_torque() const override;
-
         /**
          * @brief Get the measured joint torque. Overrides function in
          * joint_base.h

diff --git a/src/joint_moteus.cpp b/src/joint_moteus.cpp
@@ -128,15 +128,6 @@ float JointMoteus::get_velocity() const {
   }
 }
 
-float JointMoteus::get_servo_torque() const {
-  if(query_type_.torque == ::mjbots::moteus::Resolution::kIgnore){
-    LOG_WARN("Torque resolution in QueryCommand is set to kIgnore, while attempting to get value");
-    return 0;
-  } else {
-    return servo_torque_;
-  }
-}
-
 float JointMoteus::get_measured_torque() const {
   if(query_type_.torque == ::mjbots::moteus::Resolution::kIgnore){
     LOG_WARN("Torque resolution in QueryCommand is set to kIgnore, while attempting to get value");