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Transform static variable into member #220

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merged 1 commit into from
Mar 18, 2019
+11 −9
Merged

Transform static variable into member #220

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1 change: 1 addition & 0 deletions velodyne_driver/include/velodyne_driver/driver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@ class VelodyneDriver

boost::shared_ptr<Input> input_;
ros::Publisher output_;
int last_azimuth_;

/** diagnostics updater */
ros::Timer diag_timer_;
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19 changes: 10 additions & 9 deletions velodyne_driver/src/driver/driver.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -152,6 +152,8 @@ VelodyneDriver::VelodyneDriver(ros::NodeHandle node,
// raw packet output topic
output_ =
node.advertise<velodyne_msgs::VelodyneScan>("velodyne_packets", 10);

last_azimuth_ = -1;
}

/** poll the device
Expand All @@ -177,24 +179,23 @@ bool VelodyneDriver::poll(void)
}
scan->packets.push_back(tmp_packet);

static int last_azimuth = -1;
// Extract base rotation of first block in packet
std::size_t azimuth_data_pos = 100*0+2;
int azimuth = *( (u_int16_t*) (&tmp_packet.data[azimuth_data_pos]));

//if first packet in scan, there is no "valid" last_azimuth
if (last_azimuth == -1) {
last_azimuth = azimuth;
//if first packet in scan, there is no "valid" last_azimuth_
if (last_azimuth_ == -1) {
last_azimuth_ = azimuth;
continue;
}
if((last_azimuth < config_.cut_angle && config_.cut_angle <= azimuth)
|| ( config_.cut_angle <= azimuth && azimuth < last_azimuth)
|| (azimuth < last_azimuth && last_azimuth < config_.cut_angle))
if((last_azimuth_ < config_.cut_angle && config_.cut_angle <= azimuth)
|| ( config_.cut_angle <= azimuth && azimuth < last_azimuth_)
|| (azimuth < last_azimuth_ && last_azimuth_ < config_.cut_angle))
{
last_azimuth = azimuth;
last_azimuth_ = azimuth;
break; // Cut angle passed, one full revolution collected
}
last_azimuth = azimuth;
last_azimuth_ = azimuth;
}
}
else // standard behaviour
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