From 99700bee3193d6db89a2f9fd799e7ea33b38a67b Mon Sep 17 00:00:00 2001
From: Ely Repiso Polo <erepiso@iri.upc.edu>
Date: Tue, 24 Jan 2017 19:32:11 +0000
Subject: [PATCH] (ROS iri_akp_tools_companion va con C++ people_prediction
 companion ely): ya hay 3 modos: pasar obstaculo detras persona, pasar
 obstaculo delante persona a 90 o a mas de 90 grados.

---
 src/fake_laser_gen_alg_node.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/fake_laser_gen_alg_node.cpp b/src/fake_laser_gen_alg_node.cpp
index aee23a1..141763f 100644
--- a/src/fake_laser_gen_alg_node.cpp
+++ b/src/fake_laser_gen_alg_node.cpp
@@ -300,16 +300,18 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
        LaserScan_msg_.ranges[100]= 7.0;
        LaserScan_msg_.ranges[100+40]= 7.0;
        LaserScan_msg_.ranges[340]= 7.0;
-       LaserScan_msg_.ranges[340+40]= 7.0;
+       //LaserScan_msg_.ranges[340+40]= 7.0;
       // LaserScan_msg_.ranges[660]= 13.25;
       //  LaserScan_msg_.ranges[660+20]= 13.0;
       // LaserScan_msg_.ranges[760]= 13.0;
       //  LaserScan_msg_.ranges[760+20]= 13.25;
+      LaserScan_msg_.ranges[680-10]= 13.15;
        LaserScan_msg_.ranges[680]= 13.15;
         LaserScan_msg_.ranges[680+10]= 13.0;
        LaserScan_msg_.ranges[730]= 13.0;
         LaserScan_msg_.ranges[730+10]= 13.15;
-       LaserScan_msg_.ranges[1060]= 7.0;
+        LaserScan_msg_.ranges[730+20]= 13.15;
+      // LaserScan_msg_.ranges[1060]= 7.0;
       LaserScan_msg_.ranges[1060+40]= 7.0;
        LaserScan_msg_.ranges[1300]= 7.0;
         LaserScan_msg_.ranges[1300+40]= 7.0;
-- 
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