[Bug 1023] New: Frame2::Integrate() not implemented


Summary: Frame2::Integrate() not implemented
Product: KDL
Version: unspecified
Platform: All
OS/Version: All
Status: NEW
Severity: normal
Priority: P3
Component: Primitives
AssignedTo: orocos-dev [..] ...
ReportedBy: fengelhardt [..] ...
CC: orocos-dev [..] ...
Estimated Hours: 0.0

I use KDL from ROS Groovy. In my code I want to use Frame2::Integrate() like

KDL::Twist twist; // any arbitrary twist and frame
KDL::Frame2 frame;
frame.Integrate(twist, 1.0);

Compiling this with -lorocos-kdl gives the following error:

undefined reference to `KDL::Frame2::Integrate(KDL::Twist const&, double)'

After some investigation of KDL's files, I found that no corresponding symbol
is defined in any of the KDL .so's, because it seems not to be implemented in
the source code. Although the function Frame2::Integrate() is defined in
orocos_kdl/src/frames.hpp, it is not implemented in any of the corresponding
frames.inl or frames.cpp files. This is true for both ROS's version of KDL and
the master branch in the orocos git.