automatic commit

[folded-ctf.git] / pi_referential.cc

diff --git a/pi_referential.cc b/pi_referential.cc
index 6f56099..c2b716e 100644 (file)
--- a/pi_referential.cc
+++ b/pi_referential.cc
@@ -70,20 +70,10 @@ void PiReferential::draw_frame(RGBImage *image,
     image->draw_line(2, r, g, b, x3, y3, x4, y4);
     image->draw_line(2, r, g, b, x4, y4, x1, y1);
   } else {
-    //   int xc = (x1 + x2 + x3 + x4)/4, yc = (y1 + y2 + y3 + y4)/4;
-    //     image->draw_line(1, r, g, b, xc - delta, yc, xc + delta, yc);
-    //     image->draw_line(1, r, g, b, xc, yc - delta, xc, yc + delta);
     image->draw_line(2, r, g, b, x1, y1, x2, y2);
     image->draw_line(2, r, g, b, x2, y2, x3, y3);
     image->draw_line(2, r, g, b, x3, y3, x4, y4);
     image->draw_line(2, r, g, b, x4, y4, x1, y1);
-    //     image->draw_line(2, r, g, b,
-    //                      (2*xc + 5 * x1 + 5 * x2)/12, (2 * yc + 5 * y1 + 5 * y2)/12,
-    //                      (x1 + x2)/2, (y1 + y2)/2);
-    //     image->draw_line(6, r, g, b,
-    //                      (2*xc + 3 * x2 + 3 * x3)/8, (2 * yc + 3 * y2 + 3 * y3)/8,
-    //                      (x2 + x3)/2, (y2 + y3)/2
-    //                      );
   }
 }
 
@@ -308,6 +298,7 @@ PiReferential::PiReferential(PoseCell *cell) {
   // Frames
 
   if(_body_xc >= _head_xc) {
+//   if(_belly_xc >= _head_xc) {
     _horizontal_polarity = 1;
   } else {
     _horizontal_polarity = -1;
@@ -358,8 +349,8 @@ PiReferential::PiReferential(PoseCell *cell) {
 
   scalar_t l = sqrt(_head_belly_vx * _head_belly_vx + _head_belly_vy * _head_belly_vy);
 
-  _head_belly_vx = _head_belly_vx/l * _head_radius * 2;
-  _head_belly_vy = _head_belly_vy/l * _head_radius * 2;
+  _head_belly_vx = (_head_belly_vx / l) * _head_radius * 2;
+  _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;
 }