diff --git a/Sensing.cpp b/Sensing.cpp
index acc9e27..56b7723 100644
--- a/Sensing.cpp
+++ b/Sensing.cpp
@@ -164,4 +164,16 @@ bool Sensing::SwitchOn(float fromAngle, float toAngle) {
     }
   }
   return false;
+}
+
+float Sensing::GetDistance(float angle) {
+  for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
+    Placement placement = sensorPlacements[sensorIx];
+    float placementAngle = placement.direction.x;
+    if (placementAngle == angle) {
+      DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
+      return distanceSensor->GetDistance();
+    }
+  }
+  return INFINITY;
 }
\ No newline at end of file
diff --git a/Sensing.h b/Sensing.h
index 0319403..4f7f47b 100644
--- a/Sensing.h
+++ b/Sensing.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "Sensor.h"
 #include "Placement.h"
+#include "Sensor.h"
 
 #include <list>
 
@@ -20,6 +20,9 @@ struct SensorPlacement {
   SensorPlacement(Switch* switchSensor, Vector2 direction);
 };
 
+// class Perception : public Sensing {
+// }
+
 class Sensing {
  public:
   /// @brief Setup sensing
@@ -65,6 +68,7 @@ class Sensing {
   float DistanceDown(float angle);
 
   float Distance(float leftAngle, float rightAngle);
+  float GetDistance(float angle);
 
   bool SwitchOn(float fromAngle, float toAngle);
 
@@ -73,3 +77,5 @@ class Sensing {
   Placement* sensorPlacements = nullptr;
   unsigned int sensorCount = 0;
 };
+
+using Perception = Sensing;