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test general case first

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This commit is contained in:
Jeremie Deray
2017-08-12 18:14:13 +02:00
parent 223855db6d
commit 4d3cd73e91
1 changed files with 6 additions and 6 deletions
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12
src/CLaserOdometry2DNode.cpp
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@@ -185,18 +185,18 @@ void CLaserOdometry2DNode::LaserCallBack(const sensor_msgs::LaserScan::ConstPtr&
current_scan_time = last_scan.header.stamp; current_scan_time = last_scan.header.stamp;
//Initialize module on first scan //Initialize module on first scan
if (first_laser_scan) if (!first_laser_scan)
{
Init(last_scan, initial_robot_pose.pose.pose);
first_laser_scan = false;
}
else
{ {
//copy laser scan to internal variable //copy laser scan to internal variable
for (unsigned int i = 0; i<width; i++) for (unsigned int i = 0; i<width; i++)
range_wf(i) = new_scan->ranges[i]; range_wf(i) = new_scan->ranges[i];
new_scan_available = true; new_scan_available = true;
} }
else
{
Init(last_scan, initial_robot_pose.pose.pose);
first_laser_scan = false;
}
} }
} }