From 82a6528223f661f18e8eb0a62f4e89ebf8ba8293 Mon Sep 17 00:00:00 2001 From: Michal Vokac Date: Fri, 25 May 2012 18:34:27 +0200 Subject: [PATCH] robofsm: Add flags into map. Increase ignore obstacle area around playground borders. Add flag wall around totems. --- src/robofsm/robot.c | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) 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); } -- 2.39.2