Translates from ROS LaserScan to JderobotTypes LaserData. 

    @param scan: ROS LaserScan to translate

    @type scan: LaserScan

    @return a LaserData translated from scan

def laserScan2LaserData(scan):
    '''
    Translates from ROS LaserScan to JderobotTypes LaserData. 

    @param scan: ROS LaserScan to translate

    @type scan: LaserScan

    @return a LaserData translated from scan

    '''
    laser = LaserData()
    laser.values = scan.ranges
    ''' 
          ROS Angle Map      JdeRobot Angle Map
                0                  PI/2
                |                   |
                |                   |
       PI/2 --------- -PI/2  PI --------- 0
                |                   |
                |                   |
    '''
    laser.minAngle = scan.angle_min  + PI/2
    laser.maxAngle = scan.angle_max  + PI/2
    laser.maxRange = scan.range_max
    laser.minRange = scan.range_min
    laser.timeStamp = scan.header.stamp.secs + (scan.header.stamp.nsecs *1e-9)
    return laser