robofsm: Add flags into map.

Increase ignore obstacle area around playground borders.
Add flag wall around totems.

diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index 029dc9d2e1f92b7d1446e15f64aaf397723e9171..60c4b722508aabca1c80e0fa8bbde3cb39494912 100644 (file)
--- a/src/robofsm/robot.c
+++ b/src/robofsm/robot.c
@@ -61,10 +61,10 @@ void fill_in_known_areas_in_map()
 {
        /*----- 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, 0.40, 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 */
+       ShmapSetRectangleFlag(2.6, 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);
@@ -77,6 +77,9 @@ void fill_in_known_areas_in_map()
        
        /* Totems and palm tree */
        ShmapSetRectangleFlag(0.975, 0.875, 2.025, 1.125, MAP_FLAG_WALL, 0);
+        ShmapSetCircleFlag(1.1, 1.0, 0.3, MAP_FLAG_WALL, 0);
+        ShmapSetCircleFlag(2.0, 1.0, 0.3, MAP_FLAG_WALL, 0);
+        
        //ShmapSetRectangleFlag(1.775, 0.875, 2.025, 1.125, MAP_FLAG_WALL, 0);
 }