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How does cloud_to_laserscan.cpp work

asked 2011-07-25 15:10:09 -0500

lakshmen gravatar image

updated 2011-07-27 07:27:38 -0500

mmwise gravatar image

I have some more qns regarding cloud_to_scan.cpp. the post was previously posted[http://answers.ros.org/question/1561/doubts-about-pointcloud-to-laser-scan] but it was not answered. I am in need of urgent help.

Qn 1)if (output->ranges[index] * output->ranges[index] > range_sq) output->ranges[index] = sqrt(range_sq);, what is this statement trying to do.. not that sure...

qn 2) is the x, y and z in metres?or what are the units for the x,y and z?

qn 3) why is the angle = -atan2(x,z) and not angle = -atan2(z,x)

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answered 2011-07-25 19:37:37 -0500

tfoote gravatar image

All your questions can be answer by reviewing REP 103 Standard Units of Measure and Coordinate Conventions

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sorry, from REP103, qn 2 was answered but not qn 1 and 3... or maybe i can't find it... need more explaination. sorry.
lakshmen gravatar image lakshmen  ( 2011-07-27 19:03:42 -0500 )edit
At least 3 is also answered. Look at the coordinate axis definitions in the REP and the definition of the tangent function as found in your favorite math book. 1 apparently just limits range readings to some maximum.
Lorenz gravatar image Lorenz  ( 2011-07-27 21:53:41 -0500 )edit

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Asked: 2011-07-25 15:10:09 -0500

Seen: 323 times

Last updated: Jul 27 '11