[mechanics] comment dead code
@@ -627,18 +627,18 @@ void PivotJointR::_normalDoF(const BlockVector& q0, SiconosVector& ans, int axis
changeFrameAbsToBody(q0.getAllVect()[0], tmp2);
ans = *tmp2;
return;
- ::boost::math::quaternion<double> q1(q0.getValue(3), q0.getValue(4),
- q0.getValue(5), q0.getValue(6));
-
- // _A is in the q1 frame, so change it to the inertial frame.
- ::boost::math::quaternion<double> aq(0, (*_A)(0), (*_A)(1), (*_A)(2));
- ::boost::math::quaternion<double> tmp( q1 * aq / q1 );
- ans(0) = tmp.R_component_2();
- ans(1) = tmp.R_component_3();
- ans(2) = tmp.R_component_4();
- printf("PivotJointR::_normalDoF: _A = (%0.02f, %0.02f, %0.02f)\n",
- (*_A)(0), (*_A)(1), (*_A)(2));
- printf("PivotJointR::_normalDoF: ans = (%0.02f, %0.02f, %0.02f)\n",
- ans(0), ans(1), ans(2));
+ // ::boost::math::quaternion<double> q1(q0.getValue(3), q0.getValue(4),
+ // q0.getValue(5), q0.getValue(6));
+
+ // // _A is in the q1 frame, so change it to the inertial frame.
+ // ::boost::math::quaternion<double> aq(0, (*_A)(0), (*_A)(1), (*_A)(2));
+ // ::boost::math::quaternion<double> tmp( q1 * aq / q1 );
+ // ans(0) = tmp.R_component_2();
+ // ans(1) = tmp.R_component_3();
+ // ans(2) = tmp.R_component_4();
+ // printf("PivotJointR::_normalDoF: _A = (%0.02f, %0.02f, %0.02f)\n",
+ // (*_A)(0), (*_A)(1), (*_A)(2));
+ // printf("PivotJointR::_normalDoF: ans = (%0.02f, %0.02f, %0.02f)\n",
+ // ans(0), ans(1), ans(2));
}
}
