From 07ec0f131eda5407e772126acbc4766f53d1f8e4 Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Tue, 27 May 2025 15:11:16 -0400
Subject: [PATCH] ignore point too close to the robot

---
 src/modelec_strat/src/enemy_manager.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/modelec_strat/src/enemy_manager.cpp b/src/modelec_strat/src/enemy_manager.cpp
index c7b73ec..9bb9274 100644
--- a/src/modelec_strat/src/enemy_manager.cpp
+++ b/src/modelec_strat/src/enemy_manager.cpp
@@ -103,6 +103,12 @@ namespace Modelec
                 continue;
             }
 
+            if (range < robot_radius_)
+            {
+                angle += msg->angle_increment;
+                continue;
+            }
+
             // Convert to local robot frame
             double x_local = range * std::cos(angle) * 1000.0; // meters -> mm
             double y_local = range * std::sin(angle) * 1000.0; // meters -> mm
@@ -118,12 +124,6 @@ namespace Modelec
                 continue;
             }
 
-            if (std::hypot(x_global - robot_x, y_global - robot_y) < robot_radius_)
-            {
-                angle += msg->angle_increment;
-                continue; // Ignore points too close to the robot
-            }
-
             if (range < min_distance)
             {
                 min_distance = range;