Automated Testing of Ultrawideband Positioning for Autonomous Driving

Algorithm 2

(1)	case class State(
(2)	//The trajectory that has been generated so far
(3)	route: List[RpPoint],
(4)	//Object containing the drivable map with methods
(5)	//to generate valid trajectories within it.
(6)	routeInfo: RouteInfo,
(7)	//Number of faults injected so far
(8)	faultNum : Int)