Obstacle avoidance with kinect [closed]

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Hi, I am new in coding, and I was analyzing a code of obstacle avoidance with kinect, and I can't really understand what this piece of code means, especially this line angle = ((double)i*scan_msg->angle_increment)+scan_msg->angle_min. If anyone could help me, I would appreciate it!

void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_msg) {
for (unsigned int i=0;i< scan_msg->ranges.size();i++){   
    if (scan_msg->ranges[i]<distance){
        distance=scan_msg->ranges[i];  
        angle = ((double)i*scan_msg->angle_increment)+scan_msg->angle_min;
        }
        std::cout << distance <<" ------ "<< angle << std::endl;
    }
}