4 double index2deg(const struct lidar_params lidar, int index)
6 return ((lidar.start_angle_deg - index * 360.0/lidar.split_div) * lidar.orientation);
9 double index2rad(const struct lidar_params lidar, int index)
11 return (index2deg(lidar, index)/180.0 * M_PI);
14 int deg2index(const struct lidar_params lidar, double deg)
16 return ((lidar.start_angle_deg -(deg)/lidar.orientation)/(360.0/lidar.split_div));
19 int rad2index(const struct lidar_params lidar, double rad)
21 return deg2index(lidar, (rad * 180)/M_PI);