COMP329 Programming Assignment

.OccupancyGrid / occupancy_grid: this implements a simple occupancy grid based on thediscussion in the notes, and presents the probability may in a display. Note that the different lodds parameters have been pre-determined (as are the values for o (typical wall thickness) atβ(opening angle of the sensor cone)). When initialised, it is passed details of the sensors anmodels them internally (including determining their orientation). The resulting grid map will noperfectly match that of the arena - and walls may appear thicker and uneven in the resultingmap but this is normal. See examples below.The grid also shows a percentage coveredindicator to determine how much of the arena has been mapped(this will never reach 100%due to the thinker obstacles and non-reachable spaces. You can also query the map to retrievthe probability of each map cell, e.g. to assist in your exploration.class developed in the labs, and assists by representing the return values from the sensors. ltalso orients the robot in its display to reflect the current heading of the robot. It has been