pathplan/test: Change mask order and position

[eurobot/public.git] / src / pathplan / test / testmasks.c

diff --git a/src/pathplan/test/testmasks.c b/src/pathplan/test/testmasks.c
index d67c46bb795416aef850ec2f0594bf3d59c3cbee..83d7e1404a105a89e6a9e64edd2d88883a39198b 100644 (file)
--- a/src/pathplan/test/testmasks.c
+++ b/src/pathplan/test/testmasks.c
@@ -20,7 +20,7 @@ void write_mask(int x_ref, int y_ref, mask_t mask)
        for(i = 0; i < mask.nbr_mask_cells; i++) {
                x = x_ref + (mask.p_first_cell + i)->x;
                y = y_ref + (mask.p_first_cell + i)->y;
-               ShmapSetCellFlag(x, y, MAP_FLAG_PLAN_MASK);
+               ShmapSetCellFlag(x, y, MAP_FLAG_START);
        }
 }
 
@@ -57,45 +57,46 @@ int main(int argc, char *argv[])
        int x_ref, y_ref;
        mask_t tmp_mask;
        
-       x_ref = 25;
-       y_ref = 20;
-       tmp_mask = transform_mask(mask_0pi,0);
+       x_ref = 24;
+       y_ref = 28;
+       tmp_mask = transform_mask(mask_0pi,6);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 50;
-       tmp_mask = transform_mask(mask_0pi,2);
+       x_ref = 48;
+       tmp_mask = transform_mask(mask_pi4,7);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 75;
-       tmp_mask = transform_mask(mask_0pi,4);
+       x_ref = 72;
+       tmp_mask = transform_mask(mask_0pi,0);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 100;
-       tmp_mask = transform_mask(mask_0pi,6);
+       x_ref = 96;
+       tmp_mask = transform_mask(mask_pi4,1);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 25;
-       y_ref = 60;
-       tmp_mask = transform_mask(mask_pi4,1);
+       x_ref = 24;
+       y_ref = 56;
+       
+       tmp_mask = transform_mask(mask_0pi,2);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 50;
+       x_ref = 48;
        tmp_mask = transform_mask(mask_pi4,3);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 75;
-       tmp_mask = transform_mask(mask_pi4,5);
+       x_ref = 72;
+       tmp_mask = transform_mask(mask_0pi,4);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 100;
-       tmp_mask = transform_mask(mask_pi4,7);
+       x_ref = 96;
+       tmp_mask = transform_mask(mask_pi4,5);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
@@ -110,45 +111,45 @@ int main(int argc, char *argv[])
        }
        
        ShmapAllFreeSpace();
-       x_ref = 25;
-       y_ref = 20;
-       tmp_mask = transform_mask(mask_rot,0);
+       x_ref = 24;
+       y_ref = 28;
+       tmp_mask = transform_mask(mask_rot,6);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 50;
-       tmp_mask = transform_mask(mask_rot,1);
+       x_ref = 48;
+       tmp_mask = transform_mask(mask_rot,7);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 75;
-       tmp_mask = transform_mask(mask_rot,2);
+       x_ref = 72;
+       tmp_mask = transform_mask(mask_rot,0);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 100;
-       tmp_mask = transform_mask(mask_rot,3);
+       x_ref = 96;
+       tmp_mask = transform_mask(mask_rot,1);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 25;
-       y_ref = 60;
-       tmp_mask = transform_mask(mask_rot,4);
+       x_ref = 24;
+       y_ref = 56;
+       tmp_mask = transform_mask(mask_rot,2);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 50;
-       tmp_mask = transform_mask(mask_rot,5);
+       x_ref = 48;
+       tmp_mask = transform_mask(mask_rot,3);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 75;
-       tmp_mask = transform_mask(mask_rot,6);
+       x_ref = 72;
+       tmp_mask = transform_mask(mask_rot,4);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);
        
-       x_ref = 100;
-       tmp_mask = transform_mask(mask_rot,7);
+       x_ref = 96;
+       tmp_mask = transform_mask(mask_rot,5);
        write_mask(x_ref,y_ref, tmp_mask);
        free((void*) tmp_mask.p_first_cell);