From: Francois Fleuret Date: Thu, 9 Oct 2008 09:50:58 +0000 (+0200) Subject: *** empty log message *** X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=commitdiff_plain;h=dc418b62296bdbd7e033379026a6bb3ba1c92d38;p=folded-ctf.git *** empty log message *** --- diff --git a/pi_referential.cc b/pi_referential.cc index 267daea..87d4196 100644 --- a/pi_referential.cc +++ b/pi_referential.cc @@ -400,14 +400,6 @@ PiReferential::PiReferential(PoseCell *cell) { _head_belly_vy = _head_belly_vy/l * _head_radius * 2; _head_belly_edge_shift = int(floor(- RichImage::nb_edge_tags * atan2(_head_belly_ux, _head_belly_uy) / (2 * M_PI) + 0.5)); _head_belly_edge_shift = (RichImage::nb_edge_tags + _head_belly_edge_shift) % RichImage::nb_edge_tags; - - // Body frame - -// _body_ux = cos(_body_tilt) * _body_radius_1 * 2.0; -// _body_uy = sin(_body_tilt) * _body_radius_1 * 2.0; -// _body_vx = - sin(_body_tilt) * _body_radius_2 * 2.0; -// _body_vy = cos(_body_tilt) * _body_radius_2 * 2.0; - } int PiReferential::common_scale() {