From 52791da160cd1126d7412dc01242d5c2563285d9 Mon Sep 17 00:00:00 2001 From: Michal Vokac Date: Fri, 6 May 2011 13:04:11 +0200 Subject: [PATCH] robofsm: Added map flag ignore obstacle inside the table around the walls. --- src/robofsm/robot.c | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c index 64021141..94f21659 100644 --- a/src/robofsm/robot.c +++ b/src/robofsm/robot.c @@ -88,6 +88,12 @@ void fill_in_known_areas_in_map() ShmapSetRectangleFlag(1.85, 0, 2.55, 0.12, MAP_FLAG_WALL, 0); ShmapSetRectangleFlag(1.85, 0.12, 1.872, 0.25, MAP_FLAG_WALL, 0); ShmapSetRectangleFlag(2.528, 0.12, 2.55, 0.25, MAP_FLAG_WALL, 0); + + /* 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); } static void trans_callback(struct robo_fsm *fsm) -- 2.39.2