max_range_filter.h

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* Author: Eitan Marder-Eppstein
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#ifndef LASER_SCAN_MAX_RANGE_FILTER_H_
#define LASER_SCAN_MAX_RANGE_FILTER_H_

#include <filters/filter_base.h>
#include <sensor_msgs/LaserScan.h>

namespace assisted_teleop
{
  class LaserScanMaxRangeFilter : public filters::FilterBase<sensor_msgs::LaserScan>
  {
    public:
      virtual ~LaserScanMaxRangeFilter() {}

      bool configure()
      {
        return true;
      }

      bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan)
      {
        filtered_scan = input_scan;

        for(unsigned int i = 0; i < filtered_scan.ranges.size(); ++i)
        {
          //set to just below max range if its greater than max range
          if(filtered_scan.ranges[i] >= filtered_scan.range_max || filtered_scan.ranges[i] <= filtered_scan.range_min)
            filtered_scan.ranges[i] = filtered_scan.range_max - 1e-4;
        }

        return true;
      }
  };
};
#endif