Assume we are given the laser scan above and assume the Turt…

Assume we are given the laser scan above and assume the Turtlebot robot is positioned at (0,0) and when the robot moves forward then X increases. Also, assume the robot is circular in shape and it is 1.0 meter wide (diameter). The sensor is located at the center of the robot. All units are meters.  What is the value of (Xc, Yc) of the robot center when the robot encounters the first obstacle (assume meters)?