Dose the implementation code for VFH+ work correctly?

[hzlijianjun]

player/server/drivers/position/vfh/vfh.cc

Line 725 in b05878f

// b += 90.0;

Hi, I found that some lines of code were commented in the VFH_Class::ProcessLaser method form vfh.cc file, Such as lines of No 725, No 733 and No 734. I suspect whether it was a mistake comment.
Dose the implementation code for VFH+ work correctly?
Thanks！

[richmattes]

I'm not entirely sure. The source code was changed in this commit:
7042a79
The commit message talks about interpolating the scan to a full 180 degrees, i think the replaced code might have just been commented out but not deleted. Im not sure commented code means something is broken, are you seeing other issues?

[hzlijianjun]

@richmattes Thanks for looking into this.
I have a 360 degress scaning lidar, for which I was going to write a custom laser driver. My custom laser driver would provider scaned data as following:
data.min_angle = 0;
data.resolution = 1;
data.ranges_count = 360

I debout that my scaned data may unmatch with following logical of VFH_Class::ProcessLaser method:

for(i = 0; i < 181; i++)
{
unsigned int index = (int)rint(i/db);
//assert(index >= 0 && index < data.ranges_count);
if(index < 0 || index >= data.ranges_count)
continue;
this->laser_ranges[i*2][0] = data.ranges[index] * 1e3;
// this->laser_ranges[i*2][1] = index;
// b += db;
}

And why is "i*2" this way but not "i" in the line:
this->laser_ranges[i*2][0] = data.ranges[index] * 1e3;

Can you show me some light on this?
Thanks!