Function rafi

• Defined in File utils.hpp

Function Documentation

float rafi(int index, float angle_increment, float fov_rad)

Range Angle From Index (inverse of rifa but returns the angle in radians)

Parameters:

• index – index of the lidar ranges vector

• angle_increment – angle increment of the lidar [rad]

• fov_rad – field of view of the lidar [rad]

Returns:

the angle corresponding to the given index [rad]