7 #define HOKUYO_ARRAY_SIZE (sizeof(((struct hokuyo_scan_type*)0)->data) / sizeof(((struct hokuyo_scan_type*)0)->data[0]))
9 #define HOKUYO_SPLIT_DIVISION 1024
10 #define HOKUYO_INITIAL_MEASUREMENT 44
11 #define HOKUYO_FINAL_MEASUREMENT 725
13 #define HOKUYO_INDEX_TO_RAD(x) (-113.0+(x)*360.0/HOKUYO_SPLIT_DIVISION)
14 #define HOKUYO_CLUSTER_TO_RAD(x) (HOKUYO_CLUSTER_TO_DEG(x)/180.0*M_PI)