Diff: Map/map.cpp

Revision:

51:98f8a6ccb6ae

Parent:

46:be4eebf40568

Child:

54:be4ea8da9057

--- a/Map/map.cpp	Mon May 02 08:35:56 2016 +0000
+++ b/Map/map.cpp	Tue May 03 12:37:31 2016 +0000
@@ -3,6 +3,42 @@
 map::map (Odometry* nodo) : Codo(nodo) {
 }
 
+void map::Build (int start_type) {
+    m.addObs(obsCarr (800, 100, 100, 15));
+    m.addObs(obsCarr (2200, 100, 100, 15));
+    
+    m.addObs(obsCarr (1500, 750, 1100, 15));
+    m.addObs(obsCarr (1500, 1050, 20, 300));
+    
+    if (start_type == MAP_RIGHTSIDE) { 
+        m.addObs(obsCarr (0, 2000, 250, 150));  // Coté haut droite
+        m.addObs(obsCarr (200, 2000, 200, 50));
+        
+        m.addObs(obsCarr (3000, 2000, 250, 150));     // Coté bas droite
+        m.addObs(obsCarr (2800, 2000, 200, 50));
+        
+        m.addObs(obsCarr (200, 2000-450, 40, 40));   // Coquillages du haut droit
+        m.addObs(obsCarr (200, 2000-750, 40, 40));
+        
+        m.addObs(obsCarr (900, 2000-550, 40, 40));
+        m.addObs(obsCarr (1200, 2000-350, 40, 40)); // Coquillages du milieu/haut
+        
+        m.addObs(obsCarr (1500, 2000-550, 40, 40));
+        m.addObs(obsCarr (1500, 2000-350, 40, 40)); 
+        
+        m.addObs(obsCarr (3000-900, 2000-550, 40, 40));
+        m.addObs(obsCarr (3000-1200, 2000-350, 40, 40));   
+        
+        m.addObs(obsCarr (3000-200, 2000-450, 40, 40));   // Coquillages du bas droite
+        m.addObs(obsCarr (3000-200, 2000-750, 40, 40));
+    }
+    else {
+        m.addObs(obsCarr (1250, 1000, 220, 220));
+        m.addObs(obsCarr (1500, 750, 220, 220));
+        m.addObs(obsCarr (1500, 1250, 220, 220));   
+    }
+}
+
 void map::addObs (obsCarr nobs) {
     obs.push_back (nobs);
 }