clear all; close all; clc
%function m=Map;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  Start @ location (11,-11). Apply controls to reach (0,0)  %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
xw=-14; xe=14; ys=-14; yn=14; %map dimensions, west, east, south, north
mrx=0.05; mry=0.05; % map resolution {x,y}
[xm ym]=meshgrid(xw:mrx:xe,ys:mry:yn);

m=0*xm.*ym;  % initialize the map m

for i=1:size(xm,2)
    for j=1:size(ym,1)
        r=sqrt(xm(1,i)^2+ym(j,1)^2);
        ang=atan2(ym(j,1),xm(1,i))+pi;
        if ((11<=r && r<=12) || (5<=r && r<=6)) && (0<=ang && ang<=0.9*2*pi) 
            m(j,i)=1;
        elseif  9<=r && r<=11 && (0.95*pi/2<=ang && ang<=1.05*pi/2)
            m(j,i)=1;
        elseif  6<=r && r<=9 && (0.98*4*pi/3<=ang && ang<=1.02*4*pi/3)
            m(j,i)=1;            
        elseif (8<=r && r<=9) && ((0<=ang && ang<=0.82*pi/2) || (1.0*4*pi/3<=ang && ang<=2*pi))
            m(j,i)=1;
        elseif xm(1,i)<0.98*xw || 0.98*xe<xm(1,i) || ym(j,1)<0.98*ys || 0.98*yn<ym(j,1) % Boundaries
            m(j,i)=1;
        end
    end
end

mesh(xm,ym,m);    axis image;  view(0, 90); xlabel('x'); ylabel('y');