def __init__(self):
self.__shapes = []
self.limit = Square("limit", np.array([[]], dtype=np.int32))
self.robot = Robot(Shape("robot", np.array([[]], dtype=np.int32)), Shape("orientation", np.array([[]], dtype=np.int32)))
self.target = None
self.treasures = []
self.orientationForTreasure = 0
def setMapLimit(self, contour):
cornerList = []
minX = 0
maxX = 960
minY = 105
maxY = 587
#table 1 : (0,110), (960,590)
#table 2 : (0,109), (960,597)
#table 3 : (0,105), (960,587)
#table 5 : (0,125), (960,605)
#table 6 : (0,92), (960,580)
newFoundLimit = Square("limit", np.array([[[minX,minY + 5]],[[minX,maxY - 5]],[[maxX, maxY - 5]],[[maxX,minY + 5]]], dtype=np.int32))
if newFoundLimit.getArea() < self.limit.getArea() or len(self.limit.getContour()) == 0:
self.limit = newFoundLimit
