X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?p=folded-ctf.git;a=blobdiff_plain;f=pi_referential.cc;h=87d41969e559562ede4f9a384bed0648ca687926;hp=f1f679077f05820606a270497b302eb01939b978;hb=6e1801915cc847204e8ae8a4ff04463b2e85f538;hpb=c7531fb9d8d1436cd25128a1c5b0795d8be744ce

diff --git a/pi_referential.cc b/pi_referential.cc
index f1f6790..87d4196 100644
--- a/pi_referential.cc
+++ b/pi_referential.cc
@@ -400,16 +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() {