montecarlolocalization/map.cpp at master · mathiasmantelli/montecarlolocalization · GitHub

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#include "map.h"

vector<coordinate> Map::landmarks;

Map::Map(int world)
{
    world_size = world;
    coordinate temp;
/*
  -----------
  |1       4|
  |         |
  |         |
  |2       3|
  -----------
*/
    //LEFT TOP
    temp.x = .2*world_size;
    temp.y = .2*world_size;
    landmarks.push_back(temp);

    //LEFT DOWN
    temp.x = .2*world_size;
    temp.y = .8*world_size;
    landmarks.push_back(temp);

    //RIGHT DOWN
    temp.x = .8*world_size;
    temp.y = .8*world_size;
    landmarks.push_back(temp);

    //RIGHT UP
    temp.x = .8*world_size;
    temp.y = .2*world_size;
    landmarks.push_back(temp);
}

//SET EMPTY GRID
void Map::set_empty_map(){
    empty.clear();
    for(int i = 0; i < world_size; i++){
        vector<bool> test;
        test.clear();
        for(int j = 0; j < world_size; j++){
            test.push_back(true); //TRUE = EMPTY | FALSE = NON-EMPTY
        }
        empty.push_back(test);
    }
}