std::vector binarySectorizeLidarData()

in sensor_fusion_pkg/src/sensor_fusion_node.cpp [361:371]

• 11 lines of code
• 5 McCabe index (conditional complexity)

        std::vector<float> binarySectorizeLidarData(const std::vector<float>& lidarData, size_t blockSize, float maxDist){
            std::vector<float> sectorLidarData;
            for(size_t i = 0; i < lidarData.size(); i += blockSize) {
                bool setBit = false;
                for(size_t b = 0; b < blockSize; b++) {
                    setBit = setBit || (lidarData[i+b] < maxDist);
                }
                sectorLidarData.push_back((setBit) ? 1 : 0);
            }
            return sectorLidarData;
        }