hokuyo: Add hokuyo orientation parameter.

It is possible to change hokuyo mounting orientation (normal/upside-down) using one flag.

diff --git a/src/hokuyo/hokuyo.h b/src/hokuyo/hokuyo.h
index b80caffd0cfe9805917ec26e100ed4c9c61b6373..c4c90f61ffcb7e3000573375619f2b77586193e3 100644 (file)
--- a/src/hokuyo/hokuyo.h
+++ b/src/hokuyo/hokuyo.h
@@ -11,7 +11,7 @@
 #define HOKUYO_FINAL_MEASUREMENT 725
 #define HOKUYO_START_ANGLE (239.77/2)
 
-#define HOKUYO_INDEX_TO_DEG(x) (HOKUYO_START_ANGLE-(x)*360.0/HOKUYO_SPLIT_DIVISION)
+#define HOKUYO_INDEX_TO_DEG(x) ((HOKUYO_START_ANGLE-(x)*360.0/HOKUYO_SPLIT_DIVISION) * HOKUYO_ORIENTATION)
 #define HOKUYO_INDEX_TO_RAD(x) (HOKUYO_INDEX_TO_DEG(x)/180.0*M_PI)
 
 #define HOKUYO_DEG_TO_INDEX(d) ((HOKUYO_START_ANGLE-(d))/(360.0/HOKUYO_SPLIT_DIVISION))