// This code fragment finds dominoes that lie about 600 mm in front of the robot.

  $nodeclass FindDominoes : MapBuilderNode(MapBuilderRequest::worldMap) : doStart {
    std::vector<Point> gazePoints;
    gazePoints.push_back(Point(600, -300, 0, egocentric));
    gazePoints.push_back(Point(600,  300, 0, egocentric));
    NEW_SHAPE(gazePoly, PolygonData, new PolygonData(localShS, gazePoints, false));

    mapreq.searchArea = gazePoly;
    mapreq.addObjectColor(dominoDataType,"red");
    mapreq.addSecondColor(dominoDataType,"blue");
  }