{"action":"closed","issue":{"url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/412","repository_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs","labels_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/412/labels{/name}","comments_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/412/comments","events_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/412/events","html_url":"https://github.com/ros-simulation/gazebo_ros_pkgs/issues/412","id":143663527,"node_id":"MDU6SXNzdWUxNDM2NjM1Mjc=","number":412,"title":"Question about the block laser plugin","user":{"login":"libing64","id":3192355,"node_id":"MDQ6VXNlcjMxOTIzNTU=","avatar_url":"https://avatars0.githubusercontent.com/u/3192355?v=4","gravatar_id":"","url":"https://api.github.com/users/libing64","html_url":"https://github.com/libing64","followers_url":"https://api.github.com/users/libing64/followers","following_url":"https://api.github.com/users/libing64/following{/other_user}","gists_url":"https://api.github.com/users/libing64/gists{/gist_id}","starred_url":"https://api.github.com/users/libing64/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/libing64/subscriptions","organizations_url":"https://api.github.com/users/libing64/orgs","repos_url":"https://api.github.com/users/libing64/repos","events_url":"https://api.github.com/users/libing64/events{/privacy}","received_events_url":"https://api.github.com/users/libing64/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2016-03-26T04:59:07Z","updated_at":"2018-06-18T21:29:56Z","closed_at":"2018-06-18T21:29:56Z","author_association":"NONE","body":"When I read the code of the block laser plugin, I have some questions.\n\na. the sign of z     \n\nI think I should be r \\* sin(pAngle) but here it is -r \\* sin(pAngle), why?\npoint.x = r \\* cos(pAngle) \\* cos(yAngle);\npoint.y = r \\* cos(pAngle) \\* sin(yAngle);\npoint.z = -r \\* sin(pAngle);\n\nb.  why interpolating is needed?\n\nwhy not use the raw value from the ray sensor but the interpolated value?\n"}}
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