pathplan/testbitmaps: testing bitmaps, straight and across

diff --git a/src/pathplan/test/testbitmaps.c b/src/pathplan/test/testbitmaps.c
index 1c5c9af42e320376bb0ab6bfebd82ac573a79b07..8ca3027a7634624ce1c7b6bfe9cf0efec6e297fd 100644 (file)
--- a/src/pathplan/test/testbitmaps.c
+++ b/src/pathplan/test/testbitmaps.c
@@ -54,36 +54,36 @@ int main(int argc, char *argv[])
        
        bitmap_dim bitmap_par[4];
        
-       init_bitmap(bitmap_par, BITMAP_AB, BITMAP_AF, BITMAP_W2);
+       init_bitmap(bitmap_par, BITMAP_AB_ACROSS, BITMAP_AF_ACROSS, BITMAP_W2_ACROSS);
        
        // Init Shared Map Memory
        ShmapInit(1);
        
        // Create some obstacles
-       ShmapSetRectangleFlag(0.0, 0.0, 0.1, 2.1, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.1, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(0.0, 2.0, 3.0, 2.1, MAP_FLAG_WALL, 0);
-       ShmapSetRectangleFlag(2.9, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0);
+       ShmapSetRectangleFlag(0.0, 0.0, 0.020, 2.1, MAP_FLAG_WALL, 0);
+       ShmapSetRectangleFlag(0.0, 0.0, 3.0, 0.025, MAP_FLAG_WALL, 0);
+       ShmapSetRectangleFlag(0.0, 2.08, 3.0, 2.1, MAP_FLAG_WALL, 0);
+       ShmapSetRectangleFlag(2.975, 0.0, 3.0, 2.1, MAP_FLAG_WALL, 0);
        
 //     check_bot_position_straight(20,20,bitmap_par,0);
 //     check_bot_position_straight(40,20,bitmap_par,90);
 //     check_bot_position_straight(20,40,bitmap_par,180);
 //     check_bot_position_straight(40,40,bitmap_par,270);
-//     
+// //  
 //     ShmapSetCellFlag(20,20,MAP_FLAG_PATH);
 //     ShmapSetCellFlag(40,20,MAP_FLAG_PATH);
 //     ShmapSetCellFlag(20,40,MAP_FLAG_PATH);
 //     ShmapSetCellFlag(40,40,MAP_FLAG_PATH);
-//     
-       check_bot_position_across(20,15,bitmap_par,45);
-       check_bot_position_across(20,30,bitmap_par,135);
-       check_bot_position_across(20,45,bitmap_par,225);
-       check_bot_position_across(20,60,bitmap_par,315);
        
-       ShmapSetCellFlag(20,15,MAP_FLAG_PATH);
-       ShmapSetCellFlag(20,30,MAP_FLAG_PATH);
-       ShmapSetCellFlag(20,45,MAP_FLAG_PATH);
-       ShmapSetCellFlag(20,60,MAP_FLAG_PATH);
+       check_bot_position_across(30,30,bitmap_par,45);
+       check_bot_position_across(30,60,bitmap_par,135);
+       check_bot_position_across(60,30,bitmap_par,225);
+       check_bot_position_across(60,60,bitmap_par,315);
+       
+       ShmapSetCellFlag(30,30,MAP_FLAG_PATH);
+       ShmapSetCellFlag(30,60,MAP_FLAG_PATH);
+       ShmapSetCellFlag(60,30,MAP_FLAG_PATH);
+       ShmapSetCellFlag(60,60,MAP_FLAG_PATH);
        
        print_map("BITMAPS:");