def __init__(self):
rospy.init_node('pf')
self.particle_publisher = rospy.Publisher("particlecloud",
PoseArray,
queue_size=10)
self.occupancy_field = OccupancyField()
self.transform_helper = TFHelper()
self.particle_manager = ParticleManager()
self.sensor_manager = SensorManager()
self.particle_manager.init_particles(self.occupancy_field)
self.scanDistance = 0.2
self.scanAngle = 0.5
self.moved = (0, 0)
def __init__(self):
self.particle_mng = ParticleManager()
self.gravity = Vector2()
