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*** empty log message ***
author
Francois Fleuret
<fleuret@moose.fleuret.org>
Thu, 9 Oct 2008 09:50:58 +0000
(11:50 +0200)
committer
Francois Fleuret
<fleuret@moose.fleuret.org>
Thu, 9 Oct 2008 09:50:58 +0000
(11:50 +0200)
pi_referential.cc
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diff --git
a/pi_referential.cc
b/pi_referential.cc
index
267daea
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87d4196
100644
(file)
--- 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;
_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() {
}
int PiReferential::common_scale() {