class map{

    public:
        map();
        struct gridPoint{
            bool isObstacle;
            bool isExplored;
            bool isGoal;
            int location[2];
        };
        std::vector<std::vector<gridPoint> > grid;
        void createGrid(int xDim,int yDim);
        void setOriginOnGrid(int x, int y);
        gridPoint *getPoint(int x,int y);
        void addGoal(int x,int y);
        void addObstacle(int x,int y);
        float scale;
        int gridDim[2];
        
    private:
        int originLocation[2];
      
        gridPoint * border;  
};