To become familiar with the robotics framework that I will be using, I read the programming guide to understand the interfaces used to make robotic functions work. I received my project. I will be writing code to alter laser readings from the robot to recognize virtual walls. I started planning on paper exactly what course of action I was going to take. I laid out broad steps of what I had to accomplish.
- Define virtual wall line segments
- Transfer laser readings into world coordinates
- Determine segment intersects between laser readings and virtual walls
I constructed a class Wall to be able to define an instance of a wall and perform simple functions on a wall such as get the name of a wall or the x, y coordinates of the wall.