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
