src: raw code a changes

[eurobot/public.git] / src / robomon / hokuyoscan.cpp

diff --git a/src/robomon/hokuyoscan.cpp b/src/robomon/hokuyoscan.cpp
index c6cec5c610f10d14bc14f9674ee14787d8b6fa5c..06eb0ebb8f989f89aec936100cce3d7c04825ec7 100644 (file)
--- a/src/robomon/hokuyoscan.cpp
+++ b/src/robomon/hokuyoscan.cpp
@@ -58,6 +58,7 @@ void HokuyoScan::paintShapeDetect(QPainter * painter)
 void HokuyoScan::paint(QPainter * painter, const QStyleOptionGraphicsItem * option, QWidget * widget)
 {
     int d;
+    double ang;
     QPointF points[HOKUYO_ARRAY_SIZE + 1];
     unsigned point_num = 0;
     QColor color;
@@ -69,6 +70,13 @@ void HokuyoScan::paint(QPainter * painter, const QStyleOptionGraphicsItem * opti
 
     for (unsigned i=0; i < HOKUYO_ARRAY_SIZE; i++) {
         d = data.data[i];
+
+        ang = HOKUYO_INDEX_TO_RAD(i);
+
+        if((ang<(-HOKUYO_RANGE_ANGLE_LEFT/180.0*M_PI))||((ang>(HOKUYO_RANGE_ANGLE_RIGHT/180.0*M_PI)))) {
+                continue;
+        }
+
        if (d > 5600)
            d = 5600;
         if (d > 19) {