/**
* Get the range in inches from the ultrasonic sensor.
* @return double Range in inches of the target returned from the ultrasonic sensor. If there is
* no valid value yet, i.e. at least one measurement hasn't completed, then return 0.
*/
double Ultrasonic::GetRangeInches()
{
if (IsRangeValid())
return m_counter->GetPeriod() * kSpeedOfSoundInchesPerSec / 2.0;
else
return 0;
}
bool LaserScanProcessor::GetMinValidAngle(float& angle, int& ind) {
for (int i = 0; i < ranges_.size(); i++) {
float range = ranges_.at(i);
if (IsRangeValid(range)) {
angle = angle_min_ + i * angle_increment_;
ind = i;
return true;
}
}
return false;
}
