clear all; close all; clc
%function m=Map;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  Start @ location (-10,-10). Apply controls to reach (10,10)  %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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;
        r1=sqrt((xm(1,i)-xe)^2+(ym(j,1)-yn)^2); ang1=atan2(ym(j,1)-yn,xm(1,i)-xe)+pi;
        r2=sqrt((xm(1,i)-xw)^2+(ym(j,1)-ys)^2); ang2=atan2(ym(j,1)-ys,xm(1,i)-xw)+pi;
        if (26<r1 && r1<27) && (0<ang1  && ang1<0.8*pi/2)
            m(j,i)=1;
        elseif (23<r1 && r1<24) && (0.1*pi/2<ang1  && ang1<pi/2)
            m(j,i)=1;
        elseif (20<r1 && r1<21) && (0<ang1 && ang1<0.8*pi/2)
            m(j,i)=1;
        elseif (17<r1 && r1<18) && (0.1*pi/2<ang1  && ang1<pi/2)
            m(j,i)=1;
        elseif (14<r1 && r1<15) && (0<ang1 && ang1<0.8*pi/2)
            m(j,i)=1;
        elseif (11<r1 && r1<12) && (0.1*pi/2<ang1  && ang1<pi/2)
            m(j,i)=1;
        elseif (9<r2 && r2<10) && (pi<ang2  && ang2<0.95*3*pi/2)
            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');