def __init__(self, laser, map_size_pixels, map_size_meters,
map_quality=_DEFAULT_MAP_QUALITY, hole_width_mm=_DEFAULT_HOLE_WIDTH_MM):
CoreSLAM.__init__(self, laser, map_size_pixels, map_size_meters,
map_quality, hole_width_mm)
# Initialize the position (x, y, theta)
init_coord_mm = 500 * map_size_meters # center of map
self.position = pybreezyslam.Position(init_coord_mm, init_coord_mm, 0)
def build(self,
laserModel,
map_size_pix,
map_size_m,
initial_position=(-1, -1)):
slam = RMHC_SLAM(LaserModel(), self.MAP_SIZE_PIXELS,
self.MAP_SIZE_METERS)
if not initial_position == (-1, -1):
slam.position = pybreezyslam.Position(initial_position[0] * 10,
initial_position[0] * 10, 0)
return slam