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Bug in ScanPatternGenerator.cs #105

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Autumn60 opened this issue Jan 19, 2024 · 1 comment
Closed

Bug in ScanPatternGenerator.cs #105

Autumn60 opened this issue Jan 19, 2024 · 1 comment
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Autumn60 commented Jan 19, 2024 •
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UnitySensors/Assets/UnitySensors/Editor/LiDAR/ScanPatternGenerator.cs

Lines 174 to 183 in ebc7105

for (int azimuth = 0; azimuth < _azimuthAngleResolution; azimuth++)
{
if (_direction == Direction.CCW) azimuth = _azimuthAngleResolution - 1 - azimuth;
float azimuthAngle = Mathf.Lerp(_minAzimuthAngle, _maxAzimuthAngle, (float)azimuth / _azimuthAngleResolution);
foreach (float zenithAngle in _zenithAngles)
{
scan.scans[index] = Quaternion.Euler(-zenithAngle, azimuthAngle, 0) * Vector3.forward;
index++;
}
}

Loop variables "azimuth" is rewritten in the for statement. (Line 176)
This will cause an error when "_direction" value is set to "Direction.CCW".
@Autumn60 Autumn60 added the bug Something isn't working label Jan 19, 2024
@Autumn60 Autumn60 changed the title Bug in ScanPatternGenerator Bug in ScanPatternGenerator.cs Jan 19, 2024
@Autumn60 Autumn60 self-assigned this Jan 19, 2024
Autumn60 added a commit to Autumn60/UnitySensors that referenced this issue Feb 6, 2024
@Autumn60
Fix Field-Robotics-Japan#105
f944229
@Autumn60 Autumn60 mentioned this issue Feb 6, 2024
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@Autumn60 Autumn60 linked a pull request Feb 6, 2024 that will close this issue
Add ScanPattern for HDL-32E #111
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@Autumn60 Autumn60 mentioned this issue Feb 7, 2024
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Fixed in #113

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Add ScanPattern for HDL-32E Autumn60/UnitySensors
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