C++ coding for implementation of wall following behaviour for a mobile robot using player/stage software package *urgent completion*

Implement using c++ and using player/stage software package, a control module for a pioneer robot to follow a wall using the reading generated by the scanner laser. The robot follows the standard unicycle motion model i.e. it has two controls of linear speed and rotation al speed. This behaviour can be useful for inspection task. The specification/assumptions of the behaviour are the following: - Initially the robot can be at any distance from the wall and with any orientation (assuming the laser can detect a large enough part of it) - The robot has to move parallel to the wall when it detects on either side (left or right) - There will only be a wall in in vicinty of the robot. - If there is a corner the robot should be able to follow the adjacent part of the wall. - Some time after the program , the robot has to follow the wall at a distance around 1.5m with 0.2m tolerance. - It can be assumed that there are no obstacles on the way of the robot (besides the wall itself). Config file included below.