RP LIDAR 360 DEGREE DISTANCE

Hi

Ref to Rplidar , wonderful episode on same, trying to get the robot scan disctance 360 degree to detect obstacle to choose best path to move, ref similar to the RGB Led example .

The example code: 

if (IS_OK(lidar.waitPoint())) {
float distance = lidar.getCurrentPoint().distance; //distance value in mm unit
float angle = lidar.getCurrentPoint().angle; //anglue value in degree
bool startBit = lidar.getCurrentPoint().startBit; //whether this point is belong to a new scan
byte quality = lidar.getCurrentPoint().quality; //quality of the current measurement

if(angle <= 255){
distances[int(angle)] = int(distance); 
}

//perform data processing here...

Able to get a single point distance only. If anyone worked on the sketch to make each point measured then do share please. Thanks a lot.