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Merge pull request #14 from eric-wieser/patch-1

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Better use of numpy
This commit is contained in:
Vincent Rabaud 2017-07-21 18:07:09 -07:00 committed by GitHub
commit c9cbfc6364
1 changed files with 3 additions and 8 deletions
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9
src/laser_geometry/laser_geometry.py
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@ -103,7 +103,6 @@ class LaserProjection:
N = len(scan_in.ranges)
ranges = np.array(scan_in.ranges)
ranges = np.array([ranges, ranges])
if (self.__cos_sin_map.shape[1] != N or
self.__angle_min != scan_in.angle_min or
@ -113,12 +112,8 @@ class LaserProjection:
self.__angle_min = scan_in.angle_min
self.__angle_max = scan_in.angle_max
cos_map = [np.cos(scan_in.angle_min + i * scan_in.angle_increment)
for i in range(N)]
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])
angles = scan_in.angle_min + np.arange(N) * scan_in.angle_increment
self.__cos_sin_map = np.array([np.cos(angles), np.sin(angles)])
output = ranges * self.__cos_sin_map