In order to facilitate the testing of mapping algorithms, another dimension was created to the simulator. This is very common in other types of robot simulations and generally goes by the term scene editor. A default placement of obstacles (here after called a "scenario") can be set up in the scene editor via the OOMRM Scene Editor. The use of pointers may seem complicated, but it helps to reduce overhead in an embedded environment. The user is free to choose where to declare the OGrid.
The scene editor is fine for small scenes like a room, but for larger, more elaborate maps the scene
editor becomes extremely tedious. Thus, the simulator allows for the creation of external maps through
external CAD programs through the import of AutoCAD format (DXF) files. Currently, only lines are supported.
This facilitates dynamically changing grid dimensions with the same map as you can simply recompile the
program with the new dimension and import the same DXF file. The file will be automatically scaled to fit
the current grid size.