intj = COLUMN;
 FILE *fp;
 int m, n;

 //Open the file to be read

 fp=fopen(mapfile, "r");
var.**********/


/*******WARNING: map file is a global


 //Scans the file and colors in the points until it reaches the end of the file
 while (fscanf(fp, "%i%i", &m, &n) > 0)
 {
 if(m<ROW && n<COLUMN)
 {

 obstaclesmatrix[m][n] = 1; //NOTE: Check on this (LOS acts
weird; Inverted Map??)


 //Close the file
 fclose(fp);

}


//FUNCTION NAME: shadows
 //
//DESCRIPTION: This function will calculate the shadow areas for one robot
 //
// testing every point in the matrix for line-of-sight.
 //
// It will cycle through every possible robot position and store
 //
// the shadow area values to shadow matrix. This info. will

// later be saved to a data file


int
shadows(int num, int robot[][2])
{
 //Local Variables
// unsigned int robotX[100]; //the current robot position in
the x