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- package config;
- import lejos.geom.Line;
- import lejos.geom.Rectangle;
- import lejos.robotics.mapping.LineMap;
- public class Map {
- public static LineMap makeMap () {
- // Line[] lines1 = {
- // /* L-shape polygon */
- // new Line(164,356,58,600),
- // new Line(58,600,396,721),
- // new Line(396,721,455,600),
- // new Line(455,600,227,515),
- // new Line(227,515,280,399),
- // new Line(280,399,164,356),
- // /* Triangle */
- // new Line(778,526,1079,748),
- // new Line(1079,748,1063,436),
- // new Line(1063,436,778,526),
- // /* Pentagon */
- // new Line(503,76,333,267),
- // new Line(333,267,481,452),
- // new Line(481,452,730,409),
- // new Line(730,409,704,150),
- // new Line(704,150,503,76)
- // };
- // Line[] lines2 = {
- // /* L-shape polygon */
- // new Line(16.4f,35.6f,5.8f,60.0f),
- // new Line(5.8f,60.0f,39.6f,72.1f),
- // new Line(39.6f,72.1f,45.5f,60.0f),
- // new Line(45.5f,60.0f,22.7f,51.5f),
- // new Line(22.7f,51.5f,28.0f,39.9f),
- // new Line(28.0f,39.9f,16.4f,35.6f),
- // /* Triangle */
- // new Line(77.8f,52.6f,107.9f,74.8f),
- // new Line(107.9f,74.8f,106.3f,43.6f),
- // new Line(106.3f,43.6f,77.8f,52.6f),
- // /* Pentagon */
- // new Line(50.3f,7.6f,33.3f,26.7f),
- // new Line(33.3f,26.7f,48.1f,45.2f),
- // new Line(48.1f,45.2f,73.0f,40.9f),
- // new Line(73.0f,40.9f,70.4f,15.0f),
- // new Line(70.4f,15.0f,50.3f,7.6f)
- // };
-
- // mapa norma
- // Line[] lines2 = {
- // /* L-shape polygon */
- // new Line(0f, 0f, 155f, 0f),
- // new Line(155f, 0f, 110f, 135f),
- // new Line(110f, 135f, 0f, 132f),
- // new Line(0f, 132f, 0f, 0f)
- // };
- // Rectangle bounds = new Rectangle(0, 0, 160, 160);
-
- // mapa com caixa
- // Line[] lines2 = {
- // /* L-shape polygon */
- // new Line(0f, 0f, 155f, 0f),
- // new Line(0f, 0f, 0f, 132f),
- // new Line(0f, 132f, 110f, 132f),
- // new Line(155f, 0f, 110f, 132f),
- //
- // new Line(57f, 46f, 57f, 66f),
- // new Line(57f, 46f, 77f, 46f),
- // new Line(77f, 46f, 77f, 66f),
- // new Line(57f, 66f, 77f, 66f)
- // };
- // Rectangle bounds = new Rectangle(0, 0, 160, 135);
-
- // Line[] lines2 = {
- //
- // new Line(0f, 0f, 71f, 0f),
- // new Line(71f, 0f, 71f, 132f),
- // new Line(71f, 132f, 0f, 132f),
- // new Line(0f, 132f, 0f ,0f),
- //
- //
- // new Line(52f, 78f, 72f, 78f),
- // new Line(72f, 78f, 72f, 98f),
- // new Line(72f, 98f, 52, 98f),
- // new Line(52f, 98f, 52f, 78f)
- // };
- // Rectangle bounds = new Rectangle(0, 0, 75, 135);
- // LineMap map = new LineMap(lines2, bounds);
-
- Line[] lines2 = {
- new Line(0f, 0f, 0f, 101f),
- new Line(0f, 0f, 320f, 0f),
- new Line(320f, 0f, 320f, 101f),
- new Line(0f, 101f, 320f, 101f),
-
- new Line(52f, 0f, 52f, 15f),
- new Line(76f, 0f, 76f, 15f),
- new Line(52f, 15f, 76f, 15f),
-
- new Line(192f, 0f, 191f, 15f),
- new Line(217f, 0f, 217f, 15f),
- new Line(191f, 15f, 217f, 15f),
-
- new Line(52f, 76f, 52f, 101f),
- new Line(52f, 76f, 82f, 76f),
- new Line(82f, 76f, 82f, 101f),
-
- new Line(133f, 76f, 133f, 101f),
- new Line(133f, 76f, 164f, 76f),
- new Line(164f, 76f, 164f, 101f),
-
- new Line(241f, 76f, 241f, 101f),
- new Line(241f, 76f, 320f, 76f),
- };
- Rectangle bounds = new Rectangle(0, 0, 320, 101);
- LineMap map = new LineMap(lines2, bounds);
- return map;
- }
- }
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