Support variable-size input to scan_update()

2018-07-04 15:26:45 -04:00
parent b4567062ad
commit 0fe7b2243d
6 changed files with 11 additions and 7 deletions
--- a/c/coreslam.c
+++ b/c/coreslam.c
@@ -433,10 +433,11 @@ void
 scan_update(
        scan_t * scan,
        float * lidar_angles_deg,
-        int * lidar_distances_mm,
-        double hole_width_mm,
-        double velocities_dxy_mm,
-        double velocities_dtheta_degrees)
+        int *   lidar_distances_mm,
+        int     scan_size,
+        double  hole_width_mm,
+        double  velocities_dxy_mm,
+        double  velocities_dtheta_degrees)
 {    
    /* Take velocity into account */
    int degrees_per_second = (int)(scan->rate_hz * 360);
--- a/c/coreslam.h
+++ b/c/coreslam.h
@@ -134,7 +134,8 @@ void
 scan_update(
    scan_t * scan, 
    float * lidar_angles_deg,
-    int * lidar_distances_mm, 
+    int   * lidar_distances_mm, 
+    int     scan_size, 
    double hole_width_mm,
    double velocities_dxy_mm,
    double velocities_dtheta_degrees);