37 #ifndef LASER_SCAN_MAX_RANGE_FILTER_H_ 38 #define LASER_SCAN_MAX_RANGE_FILTER_H_ 41 #include <sensor_msgs/LaserScan.h> 55 bool update(
const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan)
57 filtered_scan = input_scan;
59 for(
unsigned int i = 0; i < filtered_scan.ranges.size(); ++i)
62 if(filtered_scan.ranges[i] >= filtered_scan.range_max || filtered_scan.ranges[i] <= filtered_scan.range_min)
63 filtered_scan.ranges[i] = filtered_scan.range_max - 1e-4;
bool update(const sensor_msgs::LaserScan &input_scan, sensor_msgs::LaserScan &filtered_scan)
virtual ~LaserScanMaxRangeFilter()