From 573a0deca29e489fadc3d736ef1e3efd8b480555 Mon Sep 17 00:00:00 2001 From: Francois Fleuret Date: Thu, 9 Oct 2008 11:47:40 +0200 Subject: [PATCH] automatic commit --- pi_referential.cc | 10 ++++------ pi_referential.h | 1 - 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/pi_referential.cc b/pi_referential.cc index f1f6790..267daea 100644 --- a/pi_referential.cc +++ b/pi_referential.cc @@ -403,13 +403,11 @@ PiReferential::PiReferential(PoseCell *cell) { // 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; +// _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; -// _body_edge_shift = int(floor(RichImage::nb_edge_tags * _body_tilt / (2 * M_PI) + 0.5)); -// _body_edge_shift = (RichImage::nb_edge_tags + _body_edge_shift) % RichImage::nb_edge_tags; } int PiReferential::common_scale() { diff --git a/pi_referential.h b/pi_referential.h index 9f3b06c..89a2329 100644 --- a/pi_referential.h +++ b/pi_referential.h @@ -50,7 +50,6 @@ class PiReferential { scalar_t _body_xc, _body_yc; scalar_t _body_radius_1, _body_radius_2, _body_tilt; scalar_t _body_ux, _body_uy, _body_vx, _body_vy; -// int _body_edge_shift; // The belly frame is defined by the body location and head scale scalar_t _belly_xc, _belly_yc; -- 2.39.5