From: Francois Fleuret <fleuret@moose.fleuret.org>
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() {