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

2018-07-04 15:16:50 -04:00
parent c5b86a6940
commit b4567062ad
6 changed files with 11 additions and 5 deletions
--- a/c/coreslam.c
+++ b/c/coreslam.c
@@ -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)