exclude max range points

petercorke · petercorke · commit d3dd8de2d9f7 · 2021-09-13T12:18:16.000+10:00
diff --git a/roboticstoolbox/mobile/PoseGraph.py b/roboticstoolbox/mobile/PoseGraph.py
@@ -259,9 +259,11 @@ def scan(self, i):
     def scanxy(self, i):
         
         range, theta = self.scan(i)
+        range = np.where(range < self._maxrange, range, np.nan)
         x = range * np.cos(theta)
         y = range * np.sin(theta)
 
+
         return np.c_[x, y].T
     
     def plot_scan(self, n):
