            return (False, True)
        #if self.map[int(toPoint.y)][int(toPoint.x)]==2:
        #    inPadding = True

        points = self.model.calculateCorners(toPoint, th1, th2)



        #header
        right_back_wheel = Point(points[5][0], points[5][1])
        left_back_wheel = Point(points[4][0], points[4][1])
        right_front_wheel = Point(points[1][0], points[1][1])
        left_front_wheel = Point(points[0][0], points[0][1])

        left_front = Point(points[6][0], points[6][1])