- ShmapSetRectangleFlag(0.0, 2.01, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* top */
- ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* right */
-
- //ShmapSetRectangleFlag(0.0, 0.0, 0.2, 0.6, MAP_FLAG_IGNORE_OBST, 0); /* left basket */
- //ShmapSetRectangleFlag(2.8, 0.0, 3.0, 0.6, MAP_FLAG_IGNORE_OBST, 0); /* right basket */
-
- /* Construction areas (Building zones) */
- double x_center = (PLAYGROUND_WIDTH_M/2.0);
- double y_center = (PLAYGROUND_HEIGHT_M/2.0);
- ShmapSetRectangleFlag(x_center - ACROPOLIS_RADIUS, y_center - ACROPOLIS_RADIUS, x_center + ACROPOLIS_RADIUS, y_center + ACROPOLIS_RADIUS, MAP_FLAG_WALL, 0); /* Central construction area */
- //ShmapSetRectangleFlag(1.35, 0.9, 1.65, 1.2, MAP_FLAG_WALL, 0); /* Central construction area */
+ ShmapSetRectangleFlag(0.0, 1.91, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* top */
+ ShmapSetRectangleFlag(2.91, 0.0, 3.0, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* right */
+
+ /* Small walls that cannot be detected by hokuyo */
+ ShmapSetRectangleFlag(0.0, 1.49, 0.39, 1.432, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(3.0, 1.49, 2.61, 1.432, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(0.325, 0.0, 0.38, 0.74, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(2.675, 0.0, 2.62, 0.74, MAP_FLAG_WALL, 0);
+
+ /* Palm tree */
+ ShmapSetCircleFlag(1.5, 1.0, 0.15, MAP_FLAG_WALL, 0);
+
+ /* Totems */
+ ShmapSetRectangleFlag(1.01, 0.91, 1.19, 1.09, MAP_FLAG_WALL, 0);
+ ShmapSetRectangleFlag(1.81, 0.91, 1.99, 1.09, MAP_FLAG_WALL, 0);