LaserSensorData::ranges is everything we need: distance to obstacles measured at the sensor's focal point, expressed in global axes. Just find the euclidean distance and everything is set. No need to use the transform (from global system to sensor w/ orientation) nor the LaserSensorData::positions vector (translation part of said transform matrix).
LaserSensorData::rangesis everything we need: distance to obstacles measured at the sensor's focal point, expressed in global axes. Just find the euclidean distance and everything is set. No need to use the transform (from global system to sensor w/ orientation) nor theLaserSensorData::positionsvector (translation part of said transform matrix).TL;DR: see docs.
Closes #87.