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Fixed create2DMap assert on 32FC2 when subscribing 2D scans with intensity. LaserScan: fixed assert when angle_min > angle_max (with angle_increment < 0)

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matlabbe
2021-02-16 10:47:31 -05:00
parent f871e4359d
commit bb7e9edb9b
3 changed files with 5 additions and 6 deletions
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corelib/src/LaserScan.cpp
+1 -2
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@@ -299,8 +299,7 @@ void LaserScan::init(
// 2D scan
is2D = true;
UASSERT(rangeMax>rangeMin);
UASSERT(angleMax>angleMin);
UASSERT(angleIncrement != 0.0f);
UASSERT((angleIncrement>0 && angleMax>angleMin) || (angleIncrement<0 && angleMax<angleMin));
maxPoints_ = std::ceil((angleMax - angleMin) / angleIncrement)+1;
}
else