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Added support for laserscanners that spin clockwise #102

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Feb 10, 2021
Merged

Added support for laserscanners that spin clockwise #102

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57 changes: 41 additions & 16 deletions include/laser_filters/angular_bounds_filter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -73,28 +73,53 @@ namespace laser_filters
unsigned int count = 0;
//loop through the scan and truncate the beginning and the end of the scan as necessary
for(unsigned int i = 0; i < input_scan.ranges.size(); ++i){
//wait until we get to our desired starting angle
if(start_angle < lower_angle_){
start_angle += input_scan.angle_increment;
current_angle += input_scan.angle_increment;
start_time += ros::Duration(input_scan.time_increment);
}
else{
filtered_scan.ranges[count] = input_scan.ranges[i];
if(input_scan.angle_increment > 0){ //if the laserscanner turns counterclockwise
//wait until we get to our desired starting angle
if(start_angle < lower_angle_){
start_angle += input_scan.angle_increment;
current_angle += input_scan.angle_increment;
start_time += ros::Duration(input_scan.time_increment);
}
else{
filtered_scan.ranges[count] = input_scan.ranges[i];

//make sure that we don't update intensity data if its not available
if(input_scan.intensities.size() > i)
filtered_scan.intensities[count] = input_scan.intensities[i];
//make sure that we don't update intensity data if its not available
if(input_scan.intensities.size() > i)
filtered_scan.intensities[count] = input_scan.intensities[i];

count++;
count++;

//check if we need to break out of the loop, basically if the next increment will put us over the threshold
if(current_angle + input_scan.angle_increment > upper_angle_){
break;
//check if we need to break out of the loop, basically if the next increment will put us over the threshold
if(current_angle + input_scan.angle_increment > upper_angle_){
break;
}
current_angle += input_scan.angle_increment;
}
}
else{ //the laserscanner turns clockwise
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This is a fair amount of repeated code, but in this case I think that is OK - it avoids changing the code for the positive case, so it is unlikely to break anything.

//wait until we get to our desired starting angle
if(start_angle > upper_angle_){
start_angle += input_scan.angle_increment;
current_angle += input_scan.angle_increment;
start_time += ros::Duration(input_scan.time_increment);
}
else{
filtered_scan.ranges[count] = input_scan.ranges[i];

current_angle += input_scan.angle_increment;
//make sure that we don't update intensity data if its not available
if(input_scan.intensities.size() > i)
filtered_scan.intensities[count] = input_scan.intensities[i];

count++;

//check if we need to break out of the loop, basically if the next increment will put us over the threshold
if(current_angle + input_scan.angle_increment < lower_angle_){
break;
}

current_angle += input_scan.angle_increment;

}
}
}

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