Better use of numpy

ros-perception · Feb 21, 2016 · 40d39e4 · 40d39e4
1 parent df0be56
commit 40d39e4
Showing 1 changed file with 3 additions and 8 deletions.
diff --git a/src/laser_geometry/laser_geometry.py b/src/laser_geometry/laser_geometry.py
@@ -103,7 +103,6 @@ def __projectLaser(self, scan_in, range_cutoff, channel_options):
         N = len(scan_in.ranges)
 
         ranges = np.array(scan_in.ranges)
-        ranges = np.array([ranges, ranges])
 
         if (self.__cos_sin_map.shape[1] != N or
             self.__angle_min != scan_in.angle_min or
@@ -112,13 +111,9 @@ def __projectLaser(self, scan_in, range_cutoff, channel_options):
 
             self.__angle_min = scan_in.angle_min
             self.__angle_max = scan_in.angle_max
-
-            cos_map = [np.cos(scan_in.angle_min + i * scan_in.angle_increment)
-                    for i in range(N)]
-            sin_map = [np.sin(scan_in.angle_min + i * scan_in.angle_increment)
-                    for i in range(N)]
-
-            self.__cos_sin_map = np.array([cos_map, sin_map])
+
+            angles = scan_in.angle_min + np.arange(N) * scan_in.angle_increment
+            self.__cos_sin_map = np.array([np.cos(angles), np.sin(angles)])
 
         output = ranges * self.__cos_sin_map