defined class and constructor of binary occupancy grid map construction class

Author: ShisatoYano

src/components/mapping/binary/binary_grid_mapper.py

@@ -3,3 +3,23 @@
 
 Author: Shisato Yano
 """
+
+
+class BinaryGridMapper:
+    """
+    Binary occupancy grid map construction class
+    """
+
+    def __init__(self, width_m=60.0, height_m=60.0, resolution_m=1.0,
+                 center_x_m=0.0, center_y_m=0.0, sensor_params=None):
+        """
+        Constructor
+        width_m: Width size of map[m]
+        height_m: Height size of map[m]
+        resolution: Size of each cells[m]
+        center_x_m: Center x position of map[m]
+        center_y_m: Center y position of map[m]
+        sensor_params: Parameters object of sensor
+        """
+
+        self.params = sensor_params