Minor update in EmptyContact::updateGlobalVertices

- Add Doxygen comments
- Avoid "unused parameter" warnings with keeping Doxygen comments

Author: mmurooka

include/ForceColl/Contact.h

@@ -157,8 +157,11 @@ class EmptyContact : public Contact
     return "Empty";
   }
 
-  /** \brief Do nothing because EmptyContact does not have any vertices. */
-  inline virtual void updateGlobalVertices(const sva::PTransformd & pose) override {}
+  /** \brief Update graspMat_ and vertexWithRidgeList_ according to the input pose.
+
+      Do nothing because EmptyContact does not have any vertices.
+  */
+  virtual void updateGlobalVertices(const sva::PTransformd & pose) override;
 };
 
 /** \brief Surface contact. */

src/Contact.cpp

@@ -168,6 +168,11 @@ EmptyContact::EmptyContact(const mc_rtc::Configuration & mcRtcConfig)
 {
 }
 
+void EmptyContact::updateGlobalVertices(const sva::PTransformd & // pose
+)
+{
+}
+
 void SurfaceContact::loadVerticesMap(const mc_rtc::Configuration & mcRtcConfig)
 {
   for(const auto & verticesConfig : mcRtcConfig)