Algorithm section in JSON file.

env/frame6.json

 {
-	"type" : "environment",
+	"type" : "scene",
+	"algo" : {
+		"dx" : 2,
+		"dy" : 2
+	},
 	"boundary" : {
 		"height" : 30.0,
 		"width" : 35.0

planner/ARMBuilder.cpp

@@ -37,10 +37,6 @@ ARMBuilder::ARMBuilder(Configuration& startConfig, OccupancyGrid& og, Scene& sc)
             }
         }
     }
-    
-//    for(unsigned i = 0; i<reachableArcs.size(); i++) {
-//        std::cout << reachableArcs[i] << std::endl;
-//    }
 }
 
 ARM& ARMBuilder::getARM() {

planner/PlannerThread.cpp

@@ -45,7 +45,7 @@ void PlannerThread::run() {
     QJsonObject envObj = jsonEnv.object();
 
     QJsonValue boundaryVal = envObj["boundary"];
-    if (boundaryVal.isUndefined()) {
+    if (boundaryVal.isUndefined() || boundaryVal.isNull()) {
         _writeLog("No boundary section!");
         return;
     }
@@ -54,7 +54,7 @@ void PlannerThread::run() {
     _drawBoundary(env.getBoundary());
 
     QJsonValue obstVal = envObj["obstacles"];
-    if (obstVal.isUndefined()) {
+    if (obstVal.isUndefined() || obstVal.isNull()) {
         _writeLog("No obstacle section!");
         return;
     }
@@ -73,7 +73,7 @@ void PlannerThread::run() {
     }
 
     QJsonValue robotVal = envObj["robot"];
-    if (obstVal.isUndefined()) {
+    if (robotVal.isUndefined() || robotVal.isNull()) {
         _writeLog("No robot section!");
         return;
     }
@@ -115,7 +115,14 @@ void PlannerThread::run() {
     _drawPath(config);
     _writeLog("Configuration list created.");
 
-    OccupancyGrid oG(env, 0.5, 0.5);
+    QJsonValue algoVal = envObj["algo"];
+    if (algoVal.isUndefined() || algoVal.isNull()) {
+        _writeLog("No algo section!");
+        return;
+    }
+    QJsonObject algoObj = algoVal.toObject();
+
+    OccupancyGrid oG(env, algoObj["dx"].toDouble(), algoObj["dy"].toDouble());
     _writeLog("Occupancy grid created.");
     //_drawOG(oG);