.. _GridMapping:

Grid Mapping
============

To create a new :ref:`GridMap` switch to the mapping mode:

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-mapping-mode.png
	:width: 48

Now you can move the platform around using the hardware joystick or by using the remote control.

The new :ref:`GridMap` will be created and updated while driving around.
When the mapping process is finished you can save the new map and / or upload it to the platform, see :ref:`connect`.

.. note::
	Requires permissions of `neo-installer` or `neo-admin` when connecting remotely.


Remote Control
--------------

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-teleop-mode.png
	:width: 48

A modal dialog will appear:

.. image:: remote_control_dialog.png
	:width: 400


Map Update
----------

To update the current :ref:`GridMap` switch to the map update mode:

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-map-update.png
	:width: 48

The platform needs to be localized before entering this mode.

.. note::
	Requires permissions of `neo-installer` or `neo-admin` when connecting remotely.


Map Editing
-----------

Usually a new map needs to be edited, to do that switch to the :ref:`GridMap` edit mode:

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-map-edit.png
	:width: 48

Most edit tools below can be scaled via the vector zoom buttons on the left toolbar:

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-zoom-original.png
	:width: 48
.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-zoom-in.png
	:width: 48
.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-zoom-out.png
	:width: 48

Alternatively ``Ctrl + Scroll Up/Down`` can be used.


Erase Tool
^^^^^^^^^^

Obstacles which are not static should be erased with the erase tool:

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-erase.png
	:width: 48

Holding the left mouse button will erase the area, ie. make it free.
Holding the right mouse button will mark the area as unknown.


Make Dynamic Tool
^^^^^^^^^^^^^^^^^

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-dynamic.png
	:width: 48

Holding the left mouse button will mark the area as dynamic.
Holding the right mouse button will erase only dynamic areas.

Dynamic areas are ignored when updating the map.


Make Prohibited Tool
^^^^^^^^^^^^^^^^^^^^

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-prohibited.png
	:width: 48

Holding the left mouse button will mark the area as prohibited.
Holding the right mouse button will erase only prohibited areas.

Prohibited areas are not entered by a platform. They are also ignored when updating the map.


Draw Line Tool
^^^^^^^^^^^^^^

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-draw-line.png
	:width: 48

Allows to draw artificial walls. ``Left Click`` will start and finish a line.
Hold ``Shift`` to draw lines continously. Hit ``ESC`` to abort a line.


Crop Tool
^^^^^^^^^

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-crop.png
	:width: 48

Crops the grid map to a rectangular area.
``Left Click`` will start and finish the rectangle.
The area can go beyond the original grid map area, in which case the additional space will be added as unknown.


Set Origin Tool
^^^^^^^^^^^^^^^

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-set-origin.png
	:width: 48

Allows to change the origin point of the grid map.
``Left Click`` will set the new origin point at the position of the mouse cursor.


Rotate Grid Map Tool
^^^^^^^^^^^^^^^^^^^^

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-rotate-object.png
	:width: 48

Allows to change the rotation of the grid map.
``Left Click`` and hold to rotate with the mouse cursor, release to set.
Rotation will happen around the natural origin, i.e. the bottom left corner of the grid map.


Undo / Redo
^^^^^^^^^^^

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-undo.png
	:width: 48
.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-redo.png
	:width: 48