From 633c5fbc34d05731c8274c4acd412cfdb123bb33 Mon Sep 17 00:00:00 2001 From: Michal Vokac Date: Tue, 8 May 2012 17:54:05 +0200 Subject: [PATCH] hokuyo: Add hokuyo orientation parameter. It is possible to change hokuyo mounting orientation (normal/upside-down) using one flag. --- src/hokuyo/hokuyo.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/hokuyo/hokuyo.h b/src/hokuyo/hokuyo.h index b80caffd..c4c90f61 100644 --- 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)) -- 2.39.2