//
the y
//
locally
//
function


u


//the current robot position in


int local_shadows[ROW][COLUMN] = {0};//A matrix containing shadow info.


int dummy[ROW] [COLUMN]
n


 unsigned int i,j,k,n;
 unsigned int x3[100], y3[100], x4[100], y4[100] ;
make up the obstacles
 unsigned int segments = 0 ;
// int total_shadow[ROW][COLUMN] = {0} ;
 int currentshadow[ROW][COLUMN] = {0} ;
 int previous_shadow[ROW][COLUMN] = {0} ;
 int shadow = 0 ;


 //Passed to the LOS

//counters
 //line segments that


FILE *fpl;

/*
for(i=0; i<num; i++)


printf("Robot Positions: %d %d \n", robot[i][0], robot[i][1]) ;


 //Open the file containing the line segments to be
 //checked for segment intersection
 fpl=fopen(segmentfile, "r"); /*******WARNING: segmentfile
is a global var.**********/

 //Scans until it reaches the end of file
 while (fscanf(fpl, "%i%i%i%i", &x3[segments], &y3[segments], &x4[segments],
&y4[segments]) > 0)
 {
 segments+= ;
 }
 segments -= 1;

/* //Open the file containing the # of robots and robot positions
 fp3 = fopen("robotPositions.txt", "r") ;
 fscanf(fp3, "%i", &num); //This is the number of robots
 for(n=0; n<num; n++) fscanf(fp3, "%i%i", &robot[n][0], &robot[n][1]);
*/

 //Check to see if robot positions lie within obstacle
 for(i=0; i<num; i++)


signed int robotY[100];