private static Planner GetPlanner()
{
var planner = new Planner(new Engine.Point(600, 475), 315, 45);
// move to area between rooms
var betweenRooms = new Engine.Point(825, 475);
planner.AddCourse(betweenRooms, 5);
// rotate to room 1
planner.AddRotation(-90, 10);
// enter room 1
var inRoom1 = new Engine.Point(825, 200);
planner.AddCourse(inRoom1, 5);
// rotate in room1
planner.AddRotation(-180, 10);
// enter room 2
var inRoom2 = new Engine.Point(825, 700);
planner.AddCourse(inRoom2, 15);
// rotate out of room
planner.AddRotation(180, 10);
// back to area between rooms
planner.AddCourse(betweenRooms, 10);
// rotate in hallway
planner.AddRotation(90, 10);
// move towards first toilet
var firstToilet = new Engine.Point(975, 475);
planner.AddCourse(firstToilet, 5);
// scan both places
planner.AddRotation(360, 15);
// move towards second toilet
var secondToilet = new Engine.Point(1125, 475);
planner.AddCourse(secondToilet, 5);
// scan both places
planner.AddRotation(-270, 15);
// enter second toilet
var secondToiletInside = new Engine.Point(1125, 775);
planner.AddCourse(secondToiletInside, 5);
// rotate out of toilet
planner.AddRotation(180, 15);
// move to entrance of second toilet
planner.AddCourse(secondToilet, 5);
// rotate towards dinning area
planner.AddRotation(90, 15);
// enter dining area
var diningArea = new Engine.Point(1275, 475);
planner.AddCourse(diningArea, 5);
// scan dining area
planner.AddRotation(-90, 15);
planner.AddRotation(180, 15);
// enter living room
var livingRoom = new Engine.Point(1275, 700);
planner.AddCourse(livingRoom, 5);
// scan living room
planner.AddRotation(-90, 15);
return(planner);
}