1 - Generate a set of fixed measurements May also construct a room to overlay output on to visualize possible erros 2 - Translate measurements into verticies on a plane. If we only snapshot a straight wall once, a line an infinite line is assumed We need to snap a wall twice to make the line Thus 2 points one with angle 0 other is *x*. Thus we represent a wall with (4, 0) (4.5, 30o) We represent this with (find intercept of 2 lines. i forgot) With another line we can find the intercept as the vertix. If we construct the walls in order it was taken (Not nessesary) 3 - Minimize number of times we convert polar to cartesian, since it does lose precision.