Player/Stage implementation of wall following robot c++

Implementation of wall following behaviour for a mobile robot.
You will have to implement in C++, and using the player/stage
software package, a control module for a Pioneer robot to follow a wall using the
readings generated by the scanner laser. The robot follows the standard unicycle motion model, i.e. it has two
controls of linear speed and rotational speed. This behaviour can be very useful for
inspection task, or to watch the paintings if the robot visits a museum. The
specifications/assumptions of the behaviour are the following:
1. 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).
2. The robot has to move parallel to the wall when it detects on either side (left
or right).
3. There will be only a wall in vicinity of the robot.
4. If there is a corner the robot should be able to follow the adjacent part of the
wall.
5. Some time after the program is started, the robot has to follow the wall at a
distance around 1.5m with 0.2 m tolerance.
6. It can be assumed that there are no obstacles on the way of the robot
(besides the wall itself).