robofsm: Update playground map

Ignore obstacles on the maze part of playground and nearby walls.

diff --git a/src/robofsm/bear-rescue.cc b/src/robofsm/bear-rescue.cc
index 779d29385daa05aeb5b2897deb762f97885056e3..7edd6e4fda92127c2fb3eee5ad74b3f9facb29d2 100644 (file)
--- a/src/robofsm/bear-rescue.cc
+++ b/src/robofsm/bear-rescue.cc
@@ -45,10 +45,19 @@ FSM_STATE_DECL(go_home);
 
 void fill_map()
 {
+        /* draw walls */
         ShmapSetCircleFlag(0.45, 0.9, 0.2, MAP_FLAG_WALL, 0);
         ShmapSetCircleFlag(0.9, 0.5, 0.2, MAP_FLAG_WALL, 0);
         ShmapSetCircleFlag(0.9, 1.5, 0.2, MAP_FLAG_WALL, 0);
         ShmapSetRectangleFlag(PLAYGROUND_WIDTH_M, 0.0, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M, MAP_FLAG_WALL, 0);
+        
+        ShmapSetRectangleFlag(0.0, 0.0, PLAYGROUND_WIDTH_M, 1.46, MAP_FLAG_IGNORE_OBST, 0);
+        ShmapSetRectangleFlag(0.0, 1.4, 0.06, PLAYGROUND_HEIGHT_M, MAP_FLAG_IGNORE_OBST, 0);
+
+        ShmapSetRectangleFlag(0.0, PLAYGROUND_HEIGHT_M - 0.06, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M, MAP_FLAG_IGNORE_OBST, 0);
+        ShmapSetRectangleFlag(PLAYGROUND_WIDTH_M - 0.06, 1.4, PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M, MAP_FLAG_IGNORE_OBST, 0);
+        
+//        ShmapSetCircleFlag(PLAYGROUND_WIDTH_M, PLAYGROUND_HEIGHT_M / 2.0, (PLAYGROUND_WIDTH_M / 2.0) - 0.05, MAP_FLAG_IGNORE_OBST, 0);
 }