automatic commit

[folded-ctf.git] / pi_referential.h

diff --git a/pi_referential.h b/pi_referential.h
index 04516f3..d1341ac 100644 (file)
--- a/pi_referential.h
+++ b/pi_referential.h
@@ -46,19 +46,20 @@ class PiReferential {
   scalar_t _head_ux, _head_uy, _head_vx, _head_vy;
   scalar_t _head_ux_nopolarity, _head_uy_nopolarity, _head_vx_nopolarity, _head_vy_nopolarity;
 
-  // The body frame in that _common_scale. The vectors are of length the radii of the ellipse
+  // Useless fields, but they are necessary so that the optimized code
+  // with g++ gives the same results as some reference
+  // experiments. Sorry for that.
   scalar_t _body_xc, _body_yc;
-  scalar_t _body_radius_1, _body_radius_2;
+//   scalar_t _body_radius_1, _body_radius_2;
   scalar_t _body_tilt;
 
-  // The belly frame is defined by the body location and head scale
+  // The belly frame is defined by the belly location and head scale
   scalar_t _belly_xc, _belly_yc;
   scalar_t _belly_ux, _belly_uy, _belly_vx, _belly_vy;
   scalar_t _belly_ux_nopolarity, _belly_uy_nopolarity, _belly_vx_nopolarity, _belly_vy_nopolarity;
   scalar_t _belly_window_scaling;
 
-  // The head-belly frame is defined by the head location and the body
-  // center location
+  // The head-belly frame is defined by the head location and the belly
   scalar_t _head_belly_xc, _head_belly_yc;
   scalar_t _head_belly_ux, _head_belly_uy, _head_belly_vx, _head_belly_vy;
   int _head_belly_edge_shift;
@@ -74,29 +75,30 @@ public:
   PiReferential(PoseCell *cell);
 
   enum {
-    // A frame centered on the head, of size four times the head radius
-    // and, flipped verically if the body center is on the left of the
-    // head center
+    // A square frame centered on the head, of size four times the
+    // head radius and, flipped vertically if the belly is on the left
+    // of the head center
     RM_HEAD,
 
     // Same as above, without the flipping
     RM_HEAD_NO_POLARITY,
-    // A frame centered on the body center, of size size times the
-    // head rardius, flipped vertically if the body center is on the
-    // left of the head center
+
+    // A frame centered on the belly, of size eight times the head
+    // radius, flipped vertically if the belly is on the left of the
+    // head center
     RM_BELLY,
 
     // Same as above, without the flipping
     RM_BELLY_NO_POLARITY,
 
     // A frame centered on the middle point between the head center
-    // and the body center, of size twice the distance head center -
-    // body center in the head-body direction, and of four times the
-    // head radius in the other
+    // and the belly, of size twice the distance head center - belly
+    // in the head-belly direction, and of four times the head radius
+    // in the other
     RM_HEAD_BELLY,
 
     // Same as above with rotation of the edges
-    RM_HEAD_BELLY_EDGES,
+    RM_HEAD_BELLY_EDGES
   };
 
   int common_scale();