Gain calculation different in paper

[mnksnz]

Hi,

Thank you for the source code of the aeplanner. :) I have a question regarding the gain calculations. In aeplanner.cpp in function gainCubature, you perform three for loops corresponding to the summations given in equation 6 in the paper. But.. with different upper and lower bounds. For instance, in the paper the azimuth angle, theta, ranges from yaw - fov_theta/2 and yaw + fov_theta/2 but in the code, theta ranges from -180 to 180. Similarly, in the paper the polar angle, phi, ranges from -fov_phi/2 to +fov_phi/2 where as in the code phi ranges from 90-fov_p/2 to 90 + fov_p/2. It is unclear to me why you changed these ranges in the implementation, could you please explain why? Is this due to the specifications of the camera such as FOV limits of the camera or due to the position of the camera on the drone?

Thanks a lot in advance. :)