Function rifa

• Defined in File utils.hpp

Function Documentation

int rifa(float angle_degrees, float angle_increment, float fov_rad)

Range Index From Angle.

Parameters:

• angle_degrees – angle in degrees (it must be in the range [-fov_deg/2, fov_deg/2], where fov_deg = fov_rad * 180 / pi) [deg]

• angle_increment – angle increment of the lidar [rad]

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

Returns:

the index of the lidar ranges vector corresponding to the given angle