sorry,
the angular resolution should be
pi/360 ~= 0.01666

---------- Forwarded message ----------
From: Gonzalo Fernando Perez Paina <gfperezpaina@gmail.com>
Date: 2011/8/12
Subject: Stage laser model resolution
To: playerstage-users@lists.sourceforge.net


Hi all,
I have a little question regarding the data of a log file saved by the writelog of Player,
The documentation of the logged data of a laser [1] says that the format of the log is:

scan_id, min_angle, max_angle, resolution, max_range, count, data

and a line of the logged file is:

0000000010.300 0 6665 laser 00 001 001 0064 -1.5708 +1.5708 +0.00870247 +8.0000 0361 8.000  0 8.000  0 8.000

the angular resolution here is 0.00870247 rad.
But with min_angle and max_angle the "fov" of the laser is pi, and if there are 361 readings
it should be (2*pi)/360 ~= 0.03333 rad.

The Stage model of the laser says
define sicklaser laser
(
  # laser-specific properties
  # factory settings for LMS200
  #  range_min 0.0
  range_max 8.0
  fov 180.0
  samples 361

  #samples 90 # still useful but much faster to compute

  # generic model properties
  color "blue"
  size [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet
)

How the Stage or Player compute the resolution saved in the log file??
What am I missing? Thanks in advance.

- [1] http://playerstage.sourceforge.net/doc/Player-3.0.2/player/group__player__driver__writelog__laser.html

--
Gonzalo F. Perez Paina
Centro de Investigación en Informática para la Ingeniería, CIII.
Universidad Tecnológica Nacional. Facultad Regional Córdoba.
Maestro M. López esq. Cruz Roja Argentina. CP X5016ZAA
gperez@scdt.frc.utn.edu.ar



--
Gonzalo F. Perez Paina
Centro de Investigación en Informática para la Ingeniería, CIII.
Universidad Tecnológica Nacional. Facultad Regional Córdoba.
Maestro M. López esq. Cruz Roja Argentina. CP X5016ZAA
gperez@scdt.frc.utn.edu.ar