automatic commit

diff --git a/pi_referential.cc b/pi_referential.cc
index f1f6790..267daea 100644 (file)
--- a/pi_referential.cc
+++ b/pi_referential.cc
@@ -403,13 +403,11 @@ PiReferential::PiReferential(PoseCell *cell) {
 
   // 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_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() {

diff --git a/pi_referential.h b/pi_referential.h
index 9f3b06c..89a2329 100644 (file)
--- a/pi_referential.h
+++ b/pi_referential.h
@@ -50,7 +50,6 @@ class PiReferential {
   scalar_t _body_xc, _body_yc;
   scalar_t _body_radius_1, _body_radius_2, _body_tilt;
   scalar_t _body_ux, _body_uy, _body_vx, _body_vy;
-//   int _body_edge_shift;
 
   // The belly frame is defined by the body location and head scale
   scalar_t _belly_xc, _belly_yc;