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This algorithm works quite well for the application and could conceivably clean the entire floor of a home if it were allowed to run long enough. Of course, it could take days for the robot to move randomly into each room and stay there until they are all vacuumed. It must be recognized that there are situations (such as the chair leg noted in the previous section) that will make the Roomba s room-cleaning algorithm much less efficient. Moving from room to room in a purposeful manner is difficult and will most likely require the IR or RF beacons in each room mentioned elsewhere for the robot to determine where it is and where it must go. With the beacons, the task of navigating becomes more of an IT problem rather than a robotics problem as the path through the house must consist of sorting the beacons of specific rooms along with the adjacent rooms, leading to the final destination. For example, a robot that finds itself in the Master Bedroom and has to go to the Main Bathroom would have to figure out the complete set of beacons to pass by. Using the beacons defined in Table 36-1, the sequence would be: 3 to 5 to 2 to 6

Table 35-5: X Window System Commands X Window Command Explanation -cursor cursorfile maskfile Sets pointer to bitmap pictures when pointer is outside any window -bitmap filename Sets root window pattern to bitmap -gray Sets background to gray -fg color Sets color of foreground bitmap -bg color Sets color of background bitmap -solid color Sets background color -name string Sets name of root window to string xmodmap Configures input devices; reads the .Xmodmap file -pk Displays current keymap -e expression Sets key binding keycode NUMBER = KEYSYMNAME Sets key to specified key symbol keysym KEYSYMNAME = KEYSYMNAME Sets key to operate the same as specified key pointer = NUMBER Sets mouse button codes Configures X Window resources; reads the .Xresources file X Window display manager; runs the XFree86 server for your system; usually called by xinitrc Starts X Window by executing xinit and instructing it to read the xinitrc file. The X Window font server Lists fonts on your system Displays installed fonts Lists detailed information about your X Window configuration Starts X Window, first reading the system's xinitrc file; when invoked from startx, it also reads the user's .Xclients file; xinit is not called directly, but through startx Creates a Makefile for an X Window application using the application's Imakefile; invokes imake to generate the Makefile (never invoke imake directly) Reads .Xauthority file to set access control to a user account through xdm from remote systems

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Your X Window System fonts are located in a directory called /usr/X11R6/lib/X11/ fonts. X Window System fonts are loaded using the xfs command. xfs reads the /etc/X11/fs/config configuration file that lists the font directories in an entry for the term catalogue. The XMan pages provide a detailed discussion on fonts. To install a set of fonts automatically, place them in a directory whose path you can add to the catalogue entry. You can also separately install a particular font with the xset command and its +fp option. Fonts for your system are

Sample Beacon Layout for a Home BEACON NUMBER 1 2 3 4 5 6 7 8 9 10 ADJACENT BEACONS 2, 5, 10 1, 5, 6, 7, 8, 9 5, 4 5 1, 3, 2 2 2 2 2 1

specified in a font path. The font path is a set of filenames, each holding a font. The filenames include their complete path. An example of the catalogue entry in the /etc/X11/config file follows. This is a comma-delimited list of directories. These are directories where the X Window System first looks for fonts.

Master Bedroom Ensuite Bathroom Living Room Main Bathroom Bedroom 1 Bedroom 2 Bedroom 3 Family Room

catalogue = /usr/X11R6/lib/X11/fonts/misc/, /usr/X11R6/lib/X11/fonts/Speedo/,/usr/X11R6/lib/X11/fonts/Type1/, /usr/X11R6/lib/X11/fonts/75dpi/,/usr/X11R6/lib/X11/fonts/100dpi/

Before you can access newly installed fonts, you must first index them with the mkfontdir command. From within the directory with the new fonts, enter the mkfontdir command. You can also use the directory path as an argument to mkfontdir. After indexing the fonts, you can then load them using the xset command with the fp rehash option. To have the fonts automatically loaded, add the directory with the full pathname to the catalogue entry in the xfs configuration file. The following shows how to install a new font and then load it:

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