Added project map factory function to maps.py

src/cs4313_utilities/maps.py

@@ -483,6 +483,26 @@ class GeometryMap(Map):
                        silo, well, tank, bldg1, bldg2, bldg3, bldg4, hedge, wall )
         return GeometryMap((-35.01, -35.01), (35.01, 35.01), geometries)
 
+    @staticmethod
+    def mineWorldMapFactory():
+        ''' CS4313-specific static method that creates and returns a map
+        of the cs4313_project/minesearch_project/worlds/minefield.world
+        Gazebo environment
+        '''
+        west_wall = geometry.LineSegment((-5.0, -5.0), (-5.0, 55.0))
+        north_wall = geometry.LineSegment((-5.0, 55.0), (85.0, 55.0))
+        east_wall = geometry.LineSegment((85.0, -5.0), (85.0, 55.0))
+        south_wall = geometry.LineSegment((-5.0, -5.0), (85.0, -5.0))
+        nogo1 = geometry.Polygon(((10, 43), (30, 41), (36, 31), (6, 27)))
+        nogo2 = geometry.Polygon(((48, 27), (62, 45), (74, 33)))
+        nogo3 = geometry.Polygon(((30, 13), (56, 21), (64, 13), (38, 5)))
+        nogo4 = geometry.Polygon(((5, 15), (20, 11), (22, 6), (9, 2)))
+        nogo5 = geometry.Polygon(((50, 3), (67, 8), (71, 3)))
+        nogo6 = geometry.Polygon(((37, 48), (50, 47), (41, 38)))
+        geometries = ( east_wall, north_wall, west_wall, south_wall, \
+                       nogo1, nogo2, nogo3, nogo4, nogo5, nogo6 )
+        return GeometryMap((-7, -7), (87, 57), geometries)
+
 
     def set_geometries(self, geometries):
         ''' Clears the current set of geometries representing non-free space