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Angles laser beams evenly #182

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merged 2 commits into from Apr 18, 2016

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Seanmatthews
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Laser beams are currently unevenly spaced because the code is dividing the total angle range by the number of rays rather than the number of spaces between rays (that is, rays - 1). Take, for example, the range [-45, 45] using 3 rays. The total angular range, 90, divided by 3, is 30. Beams will be placed at 0, 30, and 60. We want them placed at 0, 45, and 90, the result of dividing by rays - 1.

@etsardou
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That's true! Please add some boundary conditions check (namely when rays = 1) in order to merge this.

@Seanmatthews
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Thanks for the catch. Let me know if this looks alright to you.

@czalidis czalidis merged commit bcab194 into stdr-simulator-ros-pkg:hydro-devel Apr 18, 2016
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3 participants