Exercise 11, Problem 2

Generation of Boxdriving in SMRCL

Make smrcl  code  that  makes an smr  follow  the  targetposes starting  in  the middle   of   the   box  then   going   to   the   corners and   then   continueing N times around in the square defined by the cornerpoints.

laser "addline startx=-0.9 starty=0.9 endx=0.9 endy=0.9 name='N'"
laser "addline startx=-0.9 starty=-0.9 endx=0.9 endy=-0.9 name='S'"
laser "addline startx=-0.9 starty=-0.9 endx=-0.9 endy=0.9 name='V'"
laser "addline startx=0.9 starty=-0.9 endx=0.9 endy=0.9 name='E'"

laser "setinitpose x=0 y=0 th=0"
laser "setinitcov Cx=0.1 Cy=0.1 Cth=0.1"

laser "localize"

ignoreobstacles
drive 0.4 0.4 90:($targetdist<0.05)
ignoreobstacles
drive -0.4 0.4 -180:($targetdist<0.05)
ignoreobstacles
drive -0.4 -0.4 -90:($targetdist<0.05)
ignoreobstacles
drive 0.4 -0.4 0:($targetdist<0.05)
ignoreobstacles
drive 0.4 0.4 90:($targetdist<0.05)