max_range_filter.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef LASER_SCAN_MAX_RANGE_FILTER_H_
38 #define LASER_SCAN_MAX_RANGE_FILTER_H_
39 
40 #include <filters/filter_base.h>
41 #include <sensor_msgs/LaserScan.h>
42 
43 namespace assisted_teleop
44 {
45  class LaserScanMaxRangeFilter : public filters::FilterBase<sensor_msgs::LaserScan>
46  {
47  public:
49 
50  bool configure()
51  {
52  return true;
53  }
54 
55  bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan)
56  {
57  filtered_scan = input_scan;
58 
59  for(unsigned int i = 0; i < filtered_scan.ranges.size(); ++i)
60  {
61  //set to just below max range if its greater than max range
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;
64  }
65 
66  return true;
67  }
68  };
69 };
70 #endif
bool update(const sensor_msgs::LaserScan &input_scan, sensor_msgs::LaserScan &filtered_scan)


assisted_teleop
Author(s): Tully Foote
autogenerated on Mon Jun 22 2020 03:18:09