hokuyo: Fix hokuyo subscribers

[eurobot/public.git] / src / hokuyo / hokuyo.h

diff --git a/src/hokuyo/hokuyo.h b/src/hokuyo/hokuyo.h
index ef71e0d9cb0c6bbd2cef8792db4ba06e2733074a..5525d9a8478f2cfc09b10a5616fe8da4a408e47b 100644 (file)
--- a/src/hokuyo/hokuyo.h
+++ b/src/hokuyo/hokuyo.h
@@ -1,6 +1,7 @@
 #ifndef HOKUYO_H
 #define HOKUYO_H
 
+#include <math.h>
 #include <robottype.h>
 
 #define HOKUYO_ARRAY_SIZE (sizeof(((struct hokuyo_scan_type*)0)->data) / sizeof(((struct hokuyo_scan_type*)0)->data[0]))
@@ -9,4 +10,7 @@
 #define HOKUYO_INITIAL_MEASUREMENT 44
 #define HOKUYO_FINAL_MEASUREMENT 725
 
+#define HOKUYO_INDEX_TO_RAD(x) (-113.0+(x)*360.0/HOKUYO_SPLIT_DIVISION)
+#define HOKUYO_CLUSTER_TO_RAD(x) (HOKUYO_CLUSTER_TO_DEG(x)/180.0*M_PI)
+
 #endif //HOKUYO_H