Q4. Write a python program to answer the following questions a. Please determine the line type from Line1 to Line8 (Straight / Slash) b. Consider left hand side of the lane, which lines are the inner boundaries? **Assume the robot walks in the middle of the track, robot_reference = (129.64,99.5) (( 13 Denote starting point and ending point of a line as p and w, y = (x1, Y2) and w = (xx,y) where and W ER ll 11:9 = (50,200) and w = (150,300) 12:0 = (69.81,199.82) and w = (169.81,299.82) 13:4 = (50,50) and w = (49.3,174.41) 16:9 = (70.57,50) and w = (69.88.174.41) Is: 4 = (200,201.29) and w = (300.12,301.29) 16:9 = (200,50) and w = (200,175.39) 1:0 = (221.74,50.89) and w = (221.74,176.37) lg: = (221.55,201.29) and w= (321.67,301.29) lines = [[(50,200,150,300)], #line1 (start_x,start_y,end_x,end_y) [(69.81,199.82,169.81,299.82)], #line2 (start_x,start_y,end_x,end_y) [(50,50,49.31,174.41)], #line3 (start_x,start_y, end_x,end_y) [(70.57,50,69.88,174.41)], #line4 (start_x,start_y,end_x,end_y) [(200,201.29,300.12,3001.29)], #line (start_x,start_y,end_x,end_y) [(200,50,200,175.39)], #line (start_x,start_y, end_x,end_y) [(221.74,50.89,221.74,176.37)], #line 7 (start_x,start_y,end_x,end_y) [(221.55,201.29,321.67,301.29)], #line8 (start_x,start_y,end_x,end_y) ] robot_reference = (129.64,99.5)