map_definitions.h

#define MAP_WIDTH       30      
#define MAP_HEIGHT      21      
#define WALL_COST       1000    
#define MAP_WALL                0xFF    
#define MAP_PATH                0xFE    
#define MAP_START               0xFD    
#define MAP_GOAL                0xFC    
#define MAP_NEW_OBSTACLE        0xFB    
#define MAP_FREE                0x00    
#define SHM_MAP_KEY     555             
// some macros to acces to map
#define GETMAPPOS(i,j)          (*(map+i+j*MAP_WIDTH))

// Some macros useful to convert from Graph coordonates to robot field
#define GRAPHX2FIELD(x)         ((x+0.5)/10.0)  
#define GRAPHY2FIELD(y)         ((abs(y-MAP_HEIGHT)-0.5)/10.0) 
typedef unsigned char map_t;

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