emptyinsidepillar.m

function map = emptyinsidepillar(map,objtype)

% Removes the data of floor rate map from the inside of pillars where there should be no data
% at all

% For floors with 40x40 bin only. Other bin sizes will not work since this
% is hardcoded. 

% Check if map is linear or grid
if strcmp(objtype,'place')
    if any(size(map)==1600)
        linear = true;
    else
        linear = false;
        if ~size(map,1)==40 
            error('grid map is not of expected size');
        else
            % reshape to linear
            map = gridtolinear({map},'place',[40 40]);
        end
    end
elseif strcmp(objtype,'view')
    if any(size(map)==5122)
        linear = true;
    else
        linear = false;
        if ~size(map,1)==9 
            error('grid map is not of expected size');
        else
            % reshape to linear
            map = gridtolinear(map,'view',[1 1;1 1;40 40;40 40;8 160;5 32;5 32;5 32;5 32]);
        end
    end
end

pillarcoords = [331:338,... % Bottom left
                371:378,...
                411:418,...
                451:458,...
                491:498,...
                531:538,...
                571:578,...
                611:618,...
                347:354,... % Bottom right
                387:394,...
                427:434,...
                467:474,...
                507:514,...
                547:554,...
                587:594,...
                627:634,...
                971:978,... % Top left
                1011:1018,...
                1051:1058,...
                1091:1098,...
                1131:1138,...
                1171:1178,...
                1211:1218,...
                1251:1258,...
                987:994,... % Top right
                1027:1034,...
                1067:1074,...
                1107:1114,...
                1147:1154,...
                1187:1194,...
                1227:1234,...
                1267:1274
                ];

if strcmp(objtype,'view')
    pillarcoords = pillarcoords+2;
end
map(pillarcoords) = nan;
if ~linear
    if strcmp(objtype,'place')
        map = lineartogrid(map,'place',[40 40]);
        map = map{1};
    elseif strcmp(objtype,'view')
        map = lineartogrid(reshape(map,5122,1),'view',[1 1;1 1;40 40;40 40;8 160;5 32;5 32;5 32;5 32]);
    end
end