robofsm: Map for this year

Remove old map definition from file. Add new obstacle description for this year.

diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index a95057d3be4f5ca3772b4929b204d335484c217a..52ea3736e608be0a317fabe997a9a5f184cee6a6 100644 (file)
--- a/src/robofsm/robot.c
+++ b/src/robofsm/robot.c
@@ -58,37 +58,25 @@ static void int_handler(int sig)
 
 void fill_in_known_areas_in_map()
 {
-       /* Do not plan path close to edges */
-       //ShmapSetRectangleFlag(0.0, 0.0, 0.26, 2.1, MAP_FLAG_WALL, 0); /* left */
-       //ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.26, MAP_FLAG_WALL, 0); /* bottom */
-       //ShmapSetRectangleFlag(0.0, 1.84, 3.0, 2.1, MAP_FLAG_WALL, 0); /* top */
-       //ShmapSetRectangleFlag(2.74, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0); /* right */
-
-//     /* Container surroundings */
-//     ShmapSetRectangleFlag(0.0, 0.0, 0.4, 0.2, 0, MAP_FLAG_WALL); /* left container */
-//     ShmapSetRectangleFlag(3.0, 0.0, 2.6, 0.2, 0, MAP_FLAG_WALL); /* right container */
-
-//     /* Ignore other obstacles at edges */
-//     ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* left */
-//     ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
-//     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(1.0, 1.5, 1.95, 2.1, MAP_FLAG_IGNORE_OBST, 0); /* rised area */
-
-       /* start blocs + green area */
-       ShmapSetRectangleFlag(0, 0, 0.45, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(2.55, 0, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0);
-
-       /* protected blocs */
-       ShmapSetRectangleFlag(0, 0, PLAYGROUND_WIDTH_M, 0.4, MAP_FLAG_WALL, 0);
-
-       /* plan trajectory on */
-
-       /* playing area walls */
-//     ShmapSetRectangleFlag(0, 0, PLAYGROUND_WIDTH_M, 0.1, MAP_FLAG_IGNORE_OBST, 0);
-//     ShmapSetRectangleFlag(PLAYGROUND_WIDTH_M, 0, PLAYGROUND_WIDTH_M - 0.1, PLAYGROUND_HEIGHT_M, MAP_FLAG_IGNORE_OBST, 0);
-//     ShmapSetRectangleFlag(0 ,PLAYGROUND_HEIGHT_M, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M - 0.1, MAP_FLAG_IGNORE_OBST, 0);
-//     ShmapSetRectangleFlag(0 , 0, 0.1, PLAYGROUND_HEIGHT_M, MAP_FLAG_IGNORE_OBST, 0);
+       /*----- playground width 3.0 m and playground height 2.0 m -----*/
+       /* Ignore other obstacles at edges */
+       ShmapSetRectangleFlag(0.0, 0.0, 0.09, 2.0, MAP_FLAG_IGNORE_OBST, 0); /* left */
+       ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.09, MAP_FLAG_IGNORE_OBST, 0); /* bottom */
+       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);
 }
 
 static void trans_callback(struct robo_fsm *fsm)