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carlcs
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making a larger map in explorersimsonar - 2008/10/14 08:30 if i wanted to change the size of the map being displayed to, let's say a map 100m x 100m, where do i change that? i found a line something like

_state.MapWidth = 5;
_state.MapHeight = 5;

but i still couldn't see any changes in the window. is there something else i should change? thank you.

and one more thing. the pose readings returned by the differential drive, are the x,z coordinates in mm? thank you.

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Raúl

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Re:making a larger map in explorersimsonar - 2008/10/14 17:46 Hi,
About the metrics, Robotics Studio adopted the International Metrics System, therefore all measurements should use the meter as unit. That means that for example 1.2f is 1 meter and 20 centimeters.

You can change the dimensions of the maze in the ExplorerSimSonar you just need to change the dimensions of the bitmap file that is used to build the map. In other words, the size of the maze is img.Width x img.Height, being img the bitmap image which is loaded.
(look at the AddMaze method in MazeSimulatorRa.cs file).

Basically, each pixel of the bitmap will became a cell of the maze.
And the grid size is defined in the MazeSimulatorState class:

Code:


 // Grid size for bitmaps, i.e. one pixel = GridSpacing
[DataMember]
public float GridSpacing = 0.1f;    // Maze grid size (meters)

So you can easily change the scale by altering the value of this variable.. Raúl Arrabales Moreno. conscious-robots.com/raul

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