So now we know what exactly we want to achieve in the mapping step.
Let's look at what our plan of attack is.
We start all by checking whether we have already completed the mapping procedure.
For example, if we have the graph of the Mars.
If we have, we move on to the next step.
Otherwise we simplify our move by first converting it into an occupancy grade.
This can be presented with white or black regions where white region represents the area that could
be passed through.
Once we have that, we move on to perform the one force mapping where we will extract the topological
map in the form of a graph which contains a region of interest and the distances between them.
This completes our mapping procedure.