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[folded-ctf.git]
/
pi_referential.cc
diff --git
a/pi_referential.cc
b/pi_referential.cc
index
b6a6b1d
..
3d81b93
100644
(file)
--- a/
pi_referential.cc
+++ b/
pi_referential.cc
@@
-168,17
+168,16
@@
PiReferential::PiReferential(PoseCell *cell) {
// Body location
// Body location
+ // **********************************************************************
// Useless code, but necessary to keep the exact same results with
// g++ 4.1 and -O3 options on reference experiments.
// Useless code, but necessary to keep the exact same results with
// g++ 4.1 and -O3 options on reference experiments.
-
_body_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
_body_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
_body_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
_body_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
-
_body_tilt = 0;
_body_tilt = 0;
-
if((_head_xc - _body_xc) * cos(_body_tilt) + (_head_yc - _body_yc) * sin(_body_tilt) > 0) {
_body_tilt += M_PI;
}
if((_head_xc - _body_xc) * cos(_body_tilt) + (_head_yc - _body_yc) * sin(_body_tilt) > 0) {
_body_tilt += M_PI;
}
+ // **********************************************************************
// Belly location
// Belly location
@@
-197,7
+196,7
@@
PiReferential::PiReferential(PoseCell *cell) {
// Frames
if(_body_xc >= _head_xc) {
// Frames
if(_body_xc >= _head_xc) {
- // if(_belly_xc >= _head_xc) {
+
// if(_belly_xc >= _head_xc) {
_horizontal_polarity = 1;
} else {
_horizontal_polarity = -1;
_horizontal_polarity = 1;
} else {
_horizontal_polarity = -1;