From: Michal Vokac <vokac.m@gmail.com>
Date: Fri, 25 May 2012 16:34:27 +0000 (+0200)
Subject: robofsm: Add flags into map.
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/82a6528223f661f18e8eb0a62f4e89ebf8ba8293

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 029dc9d2..60c4b722 100644
--- 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);
 }