def createParticles(self, n):
for i in range(n):
# x = np.random.rand()*10-5
# y = np.random.rand()*10-5
# theta = (np.random.rand()*2*np.pi)-np.pi
groundTruthStart = self.data.robots[
self.robotId].groundTruthPosition[0]
x = groundTruthStart[1]
y = groundTruthStart[2]
theta = groundTruthStart[3]
p = Particle(self.n, [x, y, theta], self.data.map, i)
self.particles.append(p.copy())
