def __init__(self, robot, walker, pose_handler, pose_switcher, cam,
localization):
self.fall_indicator_count = 3
self._robot = robot
self._walker = walker
self._cam = cam
self._localization = localization
self._pose_handler = pose_handler
self._pose_switcher = pose_switcher
self._stance_determinator = StanceDeterminator(robot)
self._iterrupt = False
self._behavior = UnknownBehavior()
self._lock = Lock()
self._worker = Thread(target=BehaviorHandler.__worker, args=(self, ))
self._worker.start()
self.odo = RobotPose(0.0, 0.0, 0.0)
