Robot position in Velocity zero to some label object [closed]

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Hello

I would like to ask for a bit help. I would like to know my position and distance to some labelled object in the map( my object is a just a single line segment) when the robot has a velocity zero ( so when he stopped for a while close to that reference object). So my robot (assume is a rectangle) is moving around the map environment and in after a while (like after one minutes) he stopped for a couple of seconds close to some object( a bed , which I assume is a line). So I just want to know the robot minimum distance to that reference line segment and its position (angle and other parameters) to that line. Any help?