def __init__(self, slam, mapconfig, ROBOT_SIZE_METERS, offset_in_scan,
min_distance, commands):
"""
MAP_SIXE_PIXELS: map size in pixel
MAP_SIZE_METERS: map size in meters
ROBOT_SZIE_METERS: robot size in meters
offset_in_scan: values to check in a scan for obstacles from the center
min_distance: minimum distance to keep to obstacles
commans: costants for commands
"""
self.commands = commands
threading.Thread.__init__(self)
self.slam = slam
self.mapconfig = mapconfig
self.ROBOT_SIZE_METERS = ROBOT_SIZE_METERS
self.mapbytes = self.createMap()
self.recalculate = False
self.offset_in_scan = offset_in_scan
self.min_distance = min_distance
self.router = TentacleRouter(mapconfig, ROBOT_SIZE_METERS,
min_distance)
