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); }