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Begin support for interpolation in c/coreslam:scan_update()

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This commit is contained in:
simondlevy
2018-07-04 15:16:50 -04:00
parent c5b86a6940
commit b4567062ad
6 changed files with 11 additions and 5 deletions
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5
c/coreslam.c
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@@ -432,7 +432,8 @@ void scan_string(
void
scan_update(
scan_t * scan,
int * lidar_mm,
float * lidar_angles_deg,
int * lidar_distances_mm,
double hole_width_mm,
double velocities_dxy_mm,
double velocities_dtheta_degrees)
@@ -450,7 +451,7 @@ scan_update(
for (i=scan->detection_margin+1; i<scan->size-scan->detection_margin; ++i)
{
int lidar_value_mm = lidar_mm[i];
int lidar_value_mm = lidar_distances_mm[i];
/* No obstacle */
if (lidar_value_mm == 0)

3
c/coreslam.h
View File

@@ -133,7 +133,8 @@ void scan_string(
void
scan_update(
scan_t * scan,
int * lidar_mm,
float * lidar_angles_deg,
int * lidar_distances_mm,
double hole_width_mm,
double velocities_dxy_mm,
double velocities_dtheta_degrees);