removed deprecated warnings

rock-drivers · Jul 15, 2016 · 161a48d · 161a48d
1 parent 5573d71
commit 161a48d
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/src/MultilevelLaserScan.h b/src/MultilevelLaserScan.h
@@ -84,7 +84,7 @@ struct MultilevelLaserScan
 
     inline bool isRangeValid(boost::uint32_t range) const
     {
-        if(!boost::math::isnan(range) && !boost::math::isinf(range) && range >= min_range && range <= max_range)
+        if(!std::isnan(range) && !std::isinf(range) && range >= min_range && range <= max_range)
             return true;
         return false;
     }

diff --git a/src/pointcloudConvertHelper.cpp b/src/pointcloudConvertHelper.cpp
@@ -225,11 +225,13 @@ void ConvertHelper::horizontalBinning(const MultilevelLaserScan &laser_scan, Mul
 
     unsigned bin_value_count = 0;
     unsigned values_handled = 0;
+
 
     std::vector<MultilevelLaserScan::VerticalMultilevelScan>::const_iterator v_scan = laser_scan.horizontal_scans.begin();
     while(v_scan < laser_scan.horizontal_scans.end() || bin_value_count > 0) 
     {        
-        if(v_scan < laser_scan.horizontal_scans.end() && !(v_scan->horizontal_angle == bin_end_angle) && v_scan->horizontal_angle.isInRange(bin_end_angle, bin_start_angle))
+        base::AngleSegment horAngleSeg(bin_start_angle, bin_end_angle.getRad() - bin_start_angle.getRad());
+        if(v_scan < laser_scan.horizontal_scans.end() && !(v_scan->horizontal_angle == bin_end_angle) && horAngleSeg.isInside(v_scan->horizontal_angle))
         {
             // add values to bin
             bin_value_count += 1;