automatic commit

[folded-ctf.git] / pi_referential.cc

diff --git a/pi_referential.cc b/pi_referential.cc
index b6a6b1d..07c5011 100644 (file)
--- a/pi_referential.cc
+++ b/pi_referential.cc
@@ -12,7 +12,9 @@
 // You should have received a copy of the GNU General Public License     //
 // along with this program. If not, see <http://www.gnu.org/licenses/>.  //
 //                                                                       //
-// Written by Francois Fleuret, (C) IDIAP                                //
+// Written by Francois Fleuret                                           //
+// (C) Idiap Research Institute                                          //
+//                                                                       //
 // Contact <francois.fleuret@idiap.ch> for comments & bug reports        //
 ///////////////////////////////////////////////////////////////////////////
 
@@ -168,17 +170,16 @@ PiReferential::PiReferential(PoseCell *cell) {
 
   // Body location
 
+  // **********************************************************************
   // Useless code, but necessary to keep the exact same results with
   // g++ 4.1 and -O3 options on reference experiments.
-
   _body_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
   _body_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
-
   _body_tilt = 0;
-
   if((_head_xc - _body_xc) * cos(_body_tilt) + (_head_yc - _body_yc) * sin(_body_tilt) > 0) {
     _body_tilt += M_PI;
   }
+  // **********************************************************************
 
   // Belly location
 
@@ -197,7 +198,7 @@ PiReferential::PiReferential(PoseCell *cell) {
   // Frames
 
   if(_body_xc >= _head_xc) {
-  //   if(_belly_xc >= _head_xc) {
+    //   if(_belly_xc >= _head_xc) {
     _horizontal_polarity = 1;
   } else {
     _horizontal_polarity = -1;