DuongTD/laser_geometry
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Better use of numpy

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This commit is contained in:
Eric Wieser 2016-02-21 15:49:15 -05:00
parent df0be56872
commit 40d39e44dc
1 changed files with 3 additions and 8 deletions
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11
src/laser_geometry/laser_geometry.py
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@ -103,7 +103,6 @@ class LaserProjection:
N = len(scan_in.ranges) N = len(scan_in.ranges)
ranges = np.array(scan_in.ranges) ranges = np.array(scan_in.ranges)
ranges = np.array([ranges, ranges])
if (self.__cos_sin_map.shape[1] != N or if (self.__cos_sin_map.shape[1] != N or
self.__angle_min != scan_in.angle_min or self.__angle_min != scan_in.angle_min or
@ -112,13 +111,9 @@ class LaserProjection:
self.__angle_min = scan_in.angle_min self.__angle_min = scan_in.angle_min
self.__angle_max = scan_in.angle_max self.__angle_max = scan_in.angle_max
cos_map = [np.cos(scan_in.angle_min + i * scan_in.angle_increment) angles = scan_in.angle_min + np.arange(N) * scan_in.angle_increment
for i in range(N)] self.__cos_sin_map = np.array([np.cos(angles), np.sin(angles)])
sin_map = [np.sin(scan_in.angle_min + i * scan_in.angle_increment)
for i in range(N)]
self.__cos_sin_map = np.array([cos_map, sin_map])
output = ranges * self.__cos_sin_map output = ranges * self.__cos_sin_map