Revision 4c9fb6ba

View differences:

scout/libscout/src/BehaviorList.cpp
27 27
  behavior_list.push_back(behavior<line_follow>);
28 28
  behavior_list.push_back(behavior<navigationMap>);
29 29
  behavior_list.push_back(behavior<wl_test>);
30
  behavior_list.push_back(behavior<Odometry_new>);
30 31
  behavior_list.push_back(behavior<Scheduler>);
31 32
  behavior_list.push_back(behavior<WH_Robot>);
32 33
  behavior_list.push_back(behavior<maze_solve>);
34
  behavior_list.push_back(behavior<maze_solve_zane>);
33 35
  behavior_list.push_back(behavior<smart_runaround>);
34 36
  return;
35 37
}
scout/libscout/src/BehaviorList.h
28 28
#include "behaviors/line_follow.h"
29 29
#include "behaviors/navigationMap.h"
30 30
#include "behaviors/wl_test.h"
31
#include "test_behaviors/Odometry_new.h"
31 32
#include "test_behaviors/Scheduler.h"
32 33
#include "test_behaviors/WH_Robot.h"
33 34
#include "test_behaviors/maze_solve.h"
35
#include "test_behaviors/maze_solve_zane.h"
34 36
#include "test_behaviors/smart_runaround.h"
35 37

  
36 38
template<typename T> Behavior* behavior(std::string scoutname, Sensors* sensors){ return (Behavior*)new T(scoutname, sensors); } 
scout/libscout/src/test_behaviors/maze_solve.cpp
25 25

  
26 26
#include "maze_solve.h"
27 27

  
28
using namespace std;
29

  
28
#define D_THRESH 600
29
#define max(x,y) ((x > y) ? x : y)
30 30

  
31
// want to have a minimal working thing, use a big enough 
32
// static array and start in the middle
33
// we assume we are facing right, that affects where we store
34
// wall information
35
// -1 for wall, 0 for unseen, 1 for traveled, 2 for critical
36
#define WALL -1
37
#define UNSEEN 0
38
#define SEEN 1
39
#define CRITICAL 2
40
// facings
41
#define UP 0
42
#define RIGHT 1
43
#define DOWN 2
44
#define LEFT 3
31
using namespace std;
45 32

  
46
// TODO This is bad! It's defined globally across all files. Please put it inside a good scope. -Alex
47
Duration sonar_update_time(1.5);
33
void maze_solve::spin_for(double duration)
34
{
35
    ros::Rate r(100);     // 100 hz
36
    int ticks = int(duration * 100);
37
    for (int i = 0; i < ticks; i++)
38
    {
39
        spinOnce();
40
        r.sleep();
41
    }
42
}
48 43

  
49 44
void maze_solve::run()
50 45
{    
51
    // TODO:first initialize map to all 0's
52 46
    ROS_INFO("Starting to solve the maze");
47

  
53 48
    // Go up to the first line.
54 49
    follow_line();
50

  
55 51
    // Turn the sonar on.
56 52
    sonar->set_on();
57 53
    sonar->set_range(0, 23);
58 54

  
59
    // Wait for the sonar to initialize.
60
    while(!look_around(25, 25, RIGHT) && ok())
61
    {
62
      spinOnce();      
63
    }
64

  
65
    // Solve the maze
66
    bool finished = solve(25,25, RIGHT);
67

  
68
    // Check and report final condition.
69
    if (finished)
70
        ROS_INFO("YAY! I have solved the maze");
71
    else
72
        ROS_INFO("NO! The maze is unsolvable");
73
}
74

  
75
bool maze_solve::solve(int row, int col, int dir)
76
{
77
    int initial_dir = dir;
78

  
79
    ROS_INFO("I am at direction %d", dir);
80

  
81
    // use backtracking to solve the maze
82
    if (at_destination())
83
        return true;
55
    ROS_INFO("Off we go!");
84 56

  
85
    // Wait for sonar to update.
86
    sonar_update_time.sleep();
87

  
88
    // this function should fill the adjacent cells around me with
89
    // wall's or paths
90
    while(!look_around(row, col, dir) && ok())
57
    while (!at_destination())
91 58
    {
92
        spinOnce();
93
    }
94

  
95
    /* try go up */
96
    if (map[row-1][col] != WALL && initial_dir != UP)
97
    {
98
    ROS_INFO("GOING UP!");
99
        // Turn up.
100
        turn_from_to(dir, UP);
101
        follow_line();
102
        // Solve recursively.
103
        bool solved = solve(row-1, col, DOWN);
104
        if (solved)
59
        // Wait for sonar to update.
60
        spin_for(1.5);
61
        int* readings = sonar->get_sonar_readings();
62
        
63
        // Wait until the sonar gives us real values.
64
        bool readings_ok = true;
65
        cout << "[";
66
        for (int i = 0; i < 48; i++)
105 67
        {
106
            return solved;
68
            if (i == 24 || i == 36 || i == 0)
69
            {
70
                cout << "(" << readings[i] << ") ";
71
            }
72
            else
73
            {
74
                cout << readings[i] << " ";
75
            }
76
            if (readings[i] == 0)
77
            {
78
                ROS_INFO("Waiting. readings[%d] == 0.", i);
79
                readings_ok = false;
80
                break;
81
            }
107 82
        }
108
        else
109
        {
110
            //Update where we are.
111
            dir = UP;
112
        }
113
    }
114
    /* try right */
115
    if (map[row][col+1] != WALL && initial_dir != RIGHT)
116
    {
117
    ROS_INFO("GOING RIGHT!");
118
        // Turn right.
119
        turn_from_to(dir, RIGHT);
120
        follow_line();
121
        // Solve recursively.
122
        bool solved = solve(row, col+1, LEFT);
123
        if (solved)
124
        {
125
            return solved;
126
        }
127
        else
83
        cout << endl;
84

  
85
        if (!readings_ok)
128 86
        {
129
            //Update where we are.
130
            dir = RIGHT;
87
            continue;
131 88
        }
132
    }
133
    /* try down */
134
    if (map[row+1][col] != WALL && initial_dir != DOWN)
135
    {
136
    ROS_INFO("GOING DOWN!");
137
        // Turn down.
138
        turn_from_to(dir, DOWN);
139
        follow_line();
140
        // Solve recursively.
141
        bool solved = solve(row+1, col, UP);
142
        if (solved)
89

  
90
        int r_read = max(readings[23], max(readings[24], readings[25]));
91
        int s_read = max(readings[35], max(readings[36], readings[37]));
92
        int l_read = max(readings[47], max(readings[0],  readings[1]));
93

  
94
        ROS_INFO("Left: %d. Straight: %d. Right: %d.", l_read, s_read, r_read);
95

  
96
        if (r_read > D_THRESH)      // Right
143 97
        {
144
            return solved;
98
            ROS_INFO("Right.");
99
            turn_right();
145 100
        }
146
        else
101
        else if (s_read > D_THRESH) // Straight
147 102
        {
148
            //Update where we are.
149
            dir = DOWN;
103
            ROS_INFO("Straight.");
104
            turn_straight();
150 105
        }
151
    }
152
    /* try left */
153
    if (map[row][col-1] != WALL && initial_dir != LEFT)
154
    {
155
    ROS_INFO("GOING LEFT!");
156
        // Turn down.
157
        turn_from_to(dir, LEFT);
158
        follow_line();
159
        // Solve recursively.
160
        bool solved = solve(row, col-1, RIGHT);
161
        if (solved)
106
        else if (l_read > D_THRESH)   // Left
162 107
        {
163
            return solved;
108
            ROS_INFO("Left.");
109
            turn_left();
164 110
        }
165
        else
111
        else                                                        // Deadend
166 112
        {
167
            //Update where we are.
168
            dir = LEFT;
169
        }
170
    }
171

  
172
    ROS_INFO("DEAD END FOUND, TURNING BACK.");
173
    // we have exhausted all the options. This path is clearly a
174
    // dead end. go back to where we come from and return false.
175
    turn_from_to(dir, initial_dir);
176
    follow_line();
177
    return false;
178
}
179

  
180
// this function takes in the current direction and turns the scout
181
// into it intended direction
182
void maze_solve::turn_from_to(int current_dir, int intended_dir) {
183
    switch ((4 + intended_dir - current_dir) % 4) 
184
    {
185
        case 0:
113
            ROS_INFO("Dead end.");
186 114
            spot_turn();
187
            break;
188
        case 1:
189
            turn_left();
190
            break;
191
        case 2:
192
            turn_straight();
193
            break;
194
        case 3:
195
            turn_right();
196
            break;
197
    }
198
}
199

  
200
bool maze_solve::look_around(int row, int col, int dir)
201
{
202
    // look around current place using sonar
203
    // store whether or not
204
    // there is a wall into the map
205
    // stores at row col 2 if point is critical, 1 otherwise
206
    
207
    int* readings = sonar->get_sonar_readings();
208
    spinOnce();
209

  
210
/*
211
    // Look to the left.
212
    int left_distance = (readings[1] + readings[0] + readings[47])/3;
213
    // Look to the front.
214
    int front_distance = (readings[35] + readings[36] + readings[37])/3;
215
    // Look to the right.
216
    int right_distance = (readings[23] + readings[24] + readings[25])/3;
217
*/
218
    // Look to the left.
219
    int left_distance = readings[0];
220
    // Look to the front.
221
    int front_distance = readings[36];
222
    // Look to the right.
223
    int right_distance = readings[24];
224

  
225
    ROS_INFO("front: %d  left: %d  right: %d", front_distance, left_distance, right_distance);
226

  
227
    if (right_distance == 0 || front_distance == 0 || left_distance == 0)
228
      return false;
115
        }
229 116

  
230
    switch (dir)
231
    {
232
        case UP:
233
            // If the distance is less than 500, mark the area as a wall otherwise
234
            // mark it as seen.
235
            map[row][col+1] = (left_distance < 500)?WALL:SEEN;
236
            map[row+1][col] = (front_distance < 500)?WALL:SEEN;
237
            map[row][col-1] = (right_distance < 500)?WALL:SEEN;
238
            break;
239
        case RIGHT:
240
            // If the distance is less than 500, mark the area as a wall otherwise
241
            // mark it as seen.
242
            map[row+1][col] = (left_distance < 500)?WALL:SEEN;
243
            map[row][col-1] = (front_distance < 500)?WALL:SEEN;
244
            map[row-1][col] = (right_distance < 500)?WALL:SEEN;
245
            break;
246
        case DOWN:
247
            // If the distance is less than 500, mark the area as a wall otherwise
248
            // mark it as seen.
249
            map[row][col-1] = (left_distance < 500)?WALL:SEEN;
250
            map[row-1][col] = (front_distance < 500)?WALL:SEEN;
251
            map[row][col+1] = (right_distance < 500)?WALL:SEEN;
252
            break;
253
        case LEFT:
254
            // If the distance is less than 500, mark the area as a wall otherwise
255
            // mark it as seen.
256
            map[row-1][col] = (left_distance < 500)?WALL:SEEN;
257
            map[row][col+1] = (front_distance < 500)?WALL:SEEN;
258
            map[row+1][col] = (right_distance < 500)?WALL:SEEN;
259
            break;
117
        follow_line();
260 118
    }
261

  
262
    return true;
263 119
}
264 120

  
265 121
bool maze_solve::at_destination() 
266 122
{
267 123
    vector<uint32_t> readings = linesensor->query();
124
    //ROS_INFO("Readings: %d %d %d %d %d %d %d %d.", readings[0], readings[1], readings[2], readings[3], readings[4], readings[5], readings[6], readings[7]);
268 125
    if ( readings[0] > 200 &&
269 126
         readings[1] < 55 &&
270 127
         readings[2] < 55 &&
......
274 131
         readings[6] < 55 &&
275 132
         readings[7] > 200 )
276 133
    {
134
        ROS_INFO("\n\nDESTINATION\n\n");
277 135
        return true;
278 136
    }
279 137
    return false;
scout/libscout/src/test_behaviors/maze_solve.h
26 26
#ifndef _MAZE_SOLVE_H_
27 27
#define _MAZE_SOLVE_H_
28 28

  
29
#include <stdio.h>
29 30
#include "../behaviors/line_follow.h"
30 31

  
31 32
class maze_solve: public line_follow
......
35 36
            line_follow(scoutname, "maze_solve", sensors) {};
36 37
        void run();
37 38
    private:
38
        bool solve(int row, int col, int dir);
39
        void turn_from_to(int current_dir, int intended_dir);
40
        bool look_around(int row, int col, int dir);
39
        void spin_for(double duration);
41 40
        bool at_destination();
42 41

  
42
        Duration sonar_update_time;
43

  
43 44
        int map[60][60];
44 45
};
45 46
#endif
scout/libscout/src/test_behaviors/smart_runaround.cpp
59 59
    return pixels/200.0;
60 60
}
61 61

  
62
// meters to pixels
63
int m_to_idx(float meters)
62
// millimeters to pixels
63
int mm_to_idx(float meters)
64 64
{
65
    float pixels = meters*200.0;
65
    // 200 pixels per meter, and 1000 millimeters per meter
66
    float pixels = meters*0.2;
66 67
    float idx = pixels/BLOCK_LENGTH;
67 68
    return floor(idx+0.5);
68 69
}
69 70

  
70
/* return a direction (if any) where adjacent block
71
 * is labeled "info" on map. Searches clockwise
72
 * starting at up. Returns -1 if no direction valid.
73
 */
74
int smart_runaround::choose_direc(int row, int col, int info)
71
float *matrix_mult(float inputs[2], float matrix[2][2])
75 72
{
76
    if (map[row-1][col] == info)
77
	return UP;
78
    else if (map[row][col+1] == info)
79
	return RIGHT;
80
    else if (map[row+1][col] == info)
81
	return DOWN;
82
    else if (map[row][col-1] == info)
83
	return LEFT;
84
    return -1;
73
    float newX = matrix[0][0]*inputs[0]+matrix[0][1]*inputs[1];
74
    float newY = matrix[1][0]*inputs[0]+matrix[1][1]*inputs[1];
75
    float output[2] = {newX, newY};
76
    return output;
85 77
}
86 78

  
87 79
// TODO This is bad! It's defined globally across all behaviors. Please fix this. -Alex
......
117 109

  
118 110

  
119 111
    int dir = RIGHT; // current direction
120
    int new_dir = RIGHT; // direction in which to turn after a scan
112
    //int new_dir = RIGHT; // direction in which to turn after a scan
121 113
    bool success = false; // true when maze solved
122 114
    while(ok())
123 115
    {
124
	// Look left, right, and forward
125 116
	look_around(row, col, dir);
126 117
	// Try moving in each direction
127
	new_dir = choose_direc(row, col, UNSEEN);
118
	/*new_dir = choose_direc(row, col, UNSEEN);
128 119
	if(new_dir < 0)
129 120
	    new_dir = choose_direc(row, col, SEEN);
130 121
	if(new_dir >= 0) {
131 122
	    turn_from_to(dir, new_dir);
132 123
	    dir = new_dir;
133
	}
124
	}*/
134 125
    }
135 126

  
136 127
    // Check and report final condition.
......
140 131
        ROS_INFO("NO! The maze is unsolvable");
141 132
}
142 133

  
143
// NOT CURRENTLY USED!!!
144
bool smart_runaround::solve(int row, int col, int dir)
134
/* return a direction (if any) where adjacent block
135
 * is labeled "info" on map. Searches clockwise
136
 * starting at up. Returns -1 if no direction valid.
137
 */
138
int smart_runaround::choose_direc(int row, int col, int info)
145 139
{
146
    int initial_dir = dir;
147

  
148
    ROS_INFO("I am at direction %d", dir);
149

  
150
    // use backtracking to solve the maze
151
    if (at_destination())
152
        return true;
153

  
154
    // Wait for sonar to update.
155
    sonar_update_time2.sleep();
156

  
157
    // this function should fill the adjacent cells around me with
158
    // wall's or paths
159
    while(!look_around(row, col, dir) && ok())
160
    {
161
        spinOnce();
162
    }
163

  
164
    /* try go up */
165
    if (map[row-1][col] != WALL && initial_dir != UP)
166
    {
167
    ROS_INFO("GOING UP!");
168
        // Turn up.
169
        turn_from_to(dir, UP);
170
        follow_line();
171
        // Solve recursively.
172
        bool solved = solve(row-1, col, DOWN);
173
        if (solved)
174
        {
175
            return solved;
176
        }
177
        else
178
        {
179
            //Update where we are.
180
            dir = UP;
181
        }
182
    }
183
    /* try right */
184
    if (map[row][col+1] != WALL && initial_dir != RIGHT)
185
    {
186
    ROS_INFO("GOING RIGHT!");
187
        // Turn right.
188
        turn_from_to(dir, RIGHT);
189
        follow_line();
190
        // Solve recursively.
191
        bool solved = solve(row, col+1, LEFT);
192
        if (solved)
193
        {
194
            return solved;
195
        }
196
        else
197
        {
198
            //Update where we are.
199
            dir = RIGHT;
200
        }
201
    }
202
    /* try down */
203
    if (map[row+1][col] != WALL && initial_dir != DOWN)
204
    {
205
    ROS_INFO("GOING DOWN!");
206
        // Turn down.
207
        turn_from_to(dir, DOWN);
208
        follow_line();
209
        // Solve recursively.
210
        bool solved = solve(row+1, col, UP);
211
        if (solved)
212
        {
213
            return solved;
214
        }
215
        else
216
        {
217
            //Update where we are.
218
            dir = DOWN;
219
        }
220
    }
221
    /* try left */
222
    if (map[row][col-1] != WALL && initial_dir != LEFT)
223
    {
224
    ROS_INFO("GOING LEFT!");
225
        // Turn down.
226
        turn_from_to(dir, LEFT);
227
        follow_line();
228
        // Solve recursively.
229
        bool solved = solve(row, col-1, RIGHT);
230
        if (solved)
231
        {
232
            return solved;
233
        }
234
        else
235
        {
236
            //Update where we are.
237
            dir = LEFT;
238
        }
239
    }
240

  
241
    ROS_INFO("DEAD END FOUND, TURNING BACK.");
242
    // we have exhausted all the options. This path is clearly a
243
    // dead end. go back to where we come from and return false.
244
    turn_from_to(dir, initial_dir);
245
    follow_line();
246
    return false;
140
    if (map[row-1][col] == info)
141
	return UP;
142
    else if (map[row][col+1] == info)
143
	return RIGHT;
144
    else if (map[row+1][col] == info)
145
	return DOWN;
146
    else if (map[row][col-1] == info)
147
	return LEFT;
148
    return -1;
247 149
}
248 150

  
249 151
/* this function takes in the current direction,
......
267 169
    }
268 170
}
269 171

  
172
/* Purpose: look front, left, and right using sonar, and update
173
 * map accordingly. Returns true if and only if sonar is initialized.
174
 */
270 175
bool smart_runaround::look_around(int row, int col, int dir)
271 176
{
272
    // look around current place using sonar
273
    // store whether or not
274
    // there is a wall into the map
275
    // stores at row col 2 if point is critical, 1 otherwise
276
    
277 177
    int* readings = sonar->get_sonar_readings();
278 178
    spinOnce();
279 179

  
280 180
    // Assumption: readings are given in millimeters - Zane
281 181

  
282
    // distances with respect to robot, NOT map
283
    // Look to the left.
284
    float left_distance = readings[0]/1000.0;
285
    int left_idx = m_to_idx(left_distance);
286
    // Look to the front.
287
    float front_distance = readings[36]/1000.0;
288
    int front_idx = m_to_idx(front_distance);
289
    // Look to the right.
290
    float right_distance = readings[24]/1000.0;
291
    int right_idx = m_to_idx(right_distance);
292

  
293
    ROS_INFO("front: %d  left: %d  right: %d", front_distance, left_distance, right_distance);
294
    if (right_distance == 0 || front_distance == 0 || left_distance == 0)
295
      return false;
296

  
297
    // determine relative distances on map, based on robot position
298
    int up_d, right_d, down_d, left_d;
299
    // determine upward distance
300
    switch (dir)
301
    {
302
	case UP:
303
	    up_d = front_idx;
304
	    right_d = right_idx;
305
	    down_d = 0; // unknown
306
	    left_d = left_idx;
307
	    break;
308
	case RIGHT:
309
	    up_d = left_idx;
310
	    right_d = front_idx;
311
	    down_d = right_idx;
312
	    left_d = 0; // unknown
313
	    break;
314
	case DOWN:
315
	    up_d = 0; // unknown
316
	    right_d = left_idx;
317
	    down_d = front_idx;
318
	    left_d = right_idx;
319
	    break;
320
	case LEFT:
321
	    up_d = right_idx;
322
	    right_d = 0; // unknown
323
	    down_d = left_idx;
324
	    left_d = front_idx;
325
	    break;
326
    }
327

  
328
    // change map until wall index, or until reading < 500
329
    // reading < 500 <=> left_idx < 8 (approx.)
330

  
331
    // map blocks above robot (on map)
332
    for(int u = 0; u < 8; u++)
333
    {
334
	if(u = up_d) {
335
	    map[row-u][col] = (up_d)?WALL:SEEN;
336
            break;
337
	}
338
	map[row-u][col] = SEEN;
339
    }
340

  
341
    // map blocks to right of robot
342
    for(int r = 0; r < 8; r++)
343
    {
344
	if(r = right_d) {
345
	    map[row][col+r] = (right_d)?WALL:SEEN;
346
            break;
347
	}
348
	map[row][col+r] = SEEN;
349
    }
350

  
351
    // map blocks under robot (on map)
352
    for(int d = 0; d < 8; d++)
353
    {
354
	if(d = down_d) {
355
	    map[row+d][col] = (down_d)?WALL:SEEN;
356
            break;
357
	}
358
	map[row+d][col] = SEEN;
359
    }
360

  
361
    // map blocks to left of robot
362
    for(int l = 0; l < 8; l++)
363
    {
364
	if(l = left_d) {
365
	    map[row][col-l] = (left_d)?WALL:SEEN;
366
            break;
367
	}
368
	map[row][col-l] = SEEN;
182
    // matrices for going from robot's frame to base frame
183
    float rightMat[2][2] = {{0, 1}, {-1, 0}};
184
    float downMat[2][2] = {{-1, 0}, {0, -1}};
185
    float leftMat[2][2] = {{0, 1}, {1, 0}};
186

  
187
    // Look to the left (and update map).
188
    float left_distance = readings[0]; // w.r.t. robot
189
    if(left_distance == 0)
190
        return false;
191
    int left_idx = -mm_to_idx(left_distance); // w.r.t. map
192
    // plot to map if indices are valid
193
    if (0 <= left_idx && left_idx < MAP_LENGTH)
194
        map[row][col+left_idx] = SEEN;
195

  
196
    // Look in the other directions (and update map).
197
    for (int i = 24; i < 48; i++) {
198
        float distance = readings[i]; // w.r.t. robot
199
        if(distance == 0)
200
            return false;
201
        if(distance >= 500)
202
            break; // too far to be accurate
203
        float theta = (M_PI/24)*i - M_PI;
204
        float xDist = distance*cos(theta); // w.r.t. robot
205
        float yDist = distance*sin(theta); // w.r.t. robot
206
        float inputs[2] = {xDist, yDist};
207
        float *ans;
208

  
209
        // re-orient x and y distances based on direction
210
        switch(dir) {
211
            case UP:
212
                ans[0] = xDist;
213
                ans[1] = yDist;
214
                break;
215
            case RIGHT:
216
                ans = matrix_mult(inputs, rightMat);
217
                break;
218
            case DOWN:
219
                ans = matrix_mult(inputs, downMat);
220
                break;
221
            case LEFT:
222
                ans = matrix_mult(inputs, leftMat);
223
                break;
224
        }
225
        // indices into the map
226
        int pixDistX = row + mm_to_idx(ans[0]);
227
        int pixDistY = col + mm_to_idx(ans[1]);
228
        // plot to map if indices are valid
229
        if (0 <= pixDistX && pixDistX < MAP_LENGTH
230
            && 0 <= pixDistY && pixDistY < MAP_LENGTH)
231
                map[pixDistX][pixDistY] = SEEN;
369 232
    }
370

  
371 233
    return true;
372 234
}
373 235

  
scout/libscout/src/test_behaviors/smart_runaround.h
26 26
#ifndef _SMART_RUNAROUND_H_
27 27
#define _SMART_RUNAROUND_H_
28 28

  
29
#include <math.h>
29 30
#include "../behaviors/line_follow.h"
30 31
/* Details about map:
31 32
 * 1 meter = 200 pixels
......
45 46
        void run();
46 47
    private:
47 48
	int choose_direc(int row, int col, int info);
48
        bool solve(int row, int col, int dir);
49 49
        void turn_from_to(int current_dir, int intended_dir);
50 50
        bool look_around(int row, int col, int dir);
51 51
        bool at_destination();
......
60 60
	 * map even if it starts at a boundary and goes to
61 61
	 * the other side.
62 62
         * Rows top to bottom, and columns left to right
63
	*/
63
	 */
64 64
        int map[MAP_LENGTH][MAP_LENGTH];
65 65
};
66 66
#endif
scout/scoutsim/src/sim_frame.cpp
87 87

  
88 88
        wxBitmap lines_bitmap;
89 89
        wxBitmap walls_bitmap;
90
	ROS_INFO("Loading map: %s", display_map_name.c_str());
90 91
        path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str()));
91 92

  
92 93
        // Try to load the file; if it fails, make a new blank file

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