From: petr <silhavik.p@gmail.com>
Date: Wed, 11 Apr 2012 20:25:10 +0000 (+0200)
Subject: robofsm: Map for this year
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/2f035da26dd2238d767d1fb583ff04ff32f8956a

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 a95057d3..52ea3736 100644
--- 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)