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Merge pull request #123 from Field-Robotics-Japan/develop
Release new version
2 parents bd6e060 + c0e8336 commit 9de5f80

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+345669
-26
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10 files changed

+345669
-26
lines changed

Assets/UnitySensors/Editor/LiDAR/ScanPatternGenerator.cs

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -173,8 +173,7 @@ private void GenerateFromSpecification()
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int index = 0;
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for (int azimuth = 0; azimuth < _azimuthAngleResolution; azimuth++)
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{
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if (_direction == Direction.CCW) azimuth = _azimuthAngleResolution - 1 - azimuth;
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float azimuthAngle = Mathf.Lerp(_minAzimuthAngle, _maxAzimuthAngle, (float)azimuth / _azimuthAngleResolution);
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float azimuthAngle = Mathf.Lerp(_minAzimuthAngle, _maxAzimuthAngle, (float)(_direction == Direction.CW ? azimuth : _azimuthAngleResolution - 1 - azimuth) / _azimuthAngleResolution);
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foreach (float zenithAngle in _zenithAngles)
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{
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scan.scans[index] = Quaternion.Euler(-zenithAngle, azimuthAngle, 0) * Vector3.forward;

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