def __init__(self, x, y, theta, drawing=False, record=False):
self.origin = [(x, y, theta)]
self.particles = self.origin * localisation.NUM_OF_PARTS
self.wallMap = WallMap(self)
self.wallMap.draw_walls()
self.wallMap.draw_route()
weight = float(1 / float(localisation.NUM_OF_PARTS))
self.weightings = [weight] * localisation.NUM_OF_PARTS
self.cumulative_weight = np.cumsum(self.weightings)
self.in_recovery = False
global draw
draw = drawing
if record:
self.record_all = []
self.record_all += self.particles
self.record = True
else:
self.record = False
if drawing:
localisation.draw_particles(self.particles)
