1 files changed, 15 insertions, 0 deletions
diff --git a/murl/world/__init__.py b/murl/world/__init__.py
new file mode 100644
index 0000000..254a0f6
--- /dev/null
+++ b/murl/world/__init__.py
@@ -0,0 +1,15 @@
+from abc import ABC, abstractmethod
+
+class World(ABC):
+    ROBOT_RADIUS = 0.105 / 2.
+    @abstractmethod
+    def is_valid(self, pose):
+        raise NotImplementedError
+
+    @abstractmethod
+    def get_dist(self, sources, angles):
+        raise NotImplementedError
+
+    @abstractmethod
+    def sample(self, particles):
+        raise NotImplementedError