automatic commit

[folded-ctf.git] / pi_referential.cc

diff --git a/pi_referential.cc b/pi_referential.cc
index 3fe7a27..87d4196 100644 (file)
--- a/pi_referential.cc
+++ b/pi_referential.cc
@@ -324,7 +324,6 @@ PiReferential::PiReferential(PoseCell *cell) {
 
   _body_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
   _body_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
-  _body_window_scaling = sqrt(_body_radius_1 * _body_radius_2);
 
   if((_head_xc - _body_xc) * cos(_body_tilt) + (_head_yc - _body_yc) * sin(_body_tilt) > 0) {
     _body_tilt += M_PI;
@@ -401,16 +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;
-
-  _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() {