readScanAngles

Return scan angles for laser scan range readings

Syntax

angles = readScanAngles(scan)

Description

example

angles = readScanAngles(scan) calculates the scan angles, angles, corresponding to the range readings in the laser scan message, scan. Angles are measured counter-clockwise around the positive z-axis, with the zero angle along the x-axis. angles is returned in radians and wrapped to the [ –pi, pi] interval.

Examples

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Load sample ROS messages including a ROS laser scan message, scan.

exampleHelperROSLoadMessages

Read the scan angles from the laser scan.

angles = readScanAngles(scan);

Input Arguments

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'sensor_msgs/LaserScan' ROS message, specified as a LaserScan object handle.

Output Arguments

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Scan angles for laser scan data, returned as an n-by-1 matrix in radians. Angles are measured counter-clockwise around the positive z-axis, with the zero angle along the x-axis. angles is returned in radians and wrapped to the [ –pi, pi] interval.

Introduced in R2015a