[DQ_Kinematics and subclasses] Fixing return after throw, removing unneeded std::string.

Author: Murilo Marinho

src/robot_modeling/DQ_SerialManipulatorDenso.cpp

@@ -105,12 +105,7 @@ MatrixXd DQ_SerialManipulatorDenso::raw_pose_jacobian(const VectorXd &q_vec, con
  */
 MatrixXd DQ_SerialManipulatorDenso::raw_pose_jacobian_derivative(const VectorXd &q, const VectorXd &q_dot, const int &to_ith_link) const
 {
-    _check_q_vec(q);
-    _check_q_vec(q_dot);
-    _check_to_ith_link(to_ith_link);
-
     throw std::runtime_error(std::string("pose_jacobian_derivative is not implemented yet."));
-    return MatrixXd::Zero(1,1);
 }
 
 

src/robot_modeling/DQ_SerialWholeBody.cpp

@@ -253,8 +253,7 @@ MatrixXd DQ_SerialWholeBody::pose_jacobian(const VectorXd &q) const
 //To be implemented.
 MatrixXd DQ_SerialWholeBody::raw_pose_jacobian_derivative_by_chain(const VectorXd &q, const VectorXd &q_dot, const int &to_ith_chain, const int &to_jth_link) const
 {
-    throw std::runtime_error(std::string("pose_jacobian_derivative_by_chain is not implemented yet."));
-    return MatrixXd::Zero(1,1);
+    throw std::runtime_error("pose_jacobian_derivative_by_chain is not implemented yet.");
 }
 
 /**

src/robot_modeling/DQ_WholeBody.cpp

@@ -183,8 +183,7 @@ void DQ_WholeBody::set_effector(const DQ &effector)
  */
 MatrixXd DQ_WholeBody::pose_jacobian_derivative(const VectorXd &q, const VectorXd &q_dot, const int &to_ith_link) const
 {
-    throw std::runtime_error(std::string("pose_jacobian_derivative is not implemented yet."));
-    return MatrixXd::Zero(1,1);
+    throw std::runtime_error("pose_jacobian_derivative is not implemented yet.");
 }