• __init__() : createMap.Obstacles , findGoal.Rectangle , findGoal.Obstacles , createOccGrid.Rectangle , createOccGrid.Obstacles , createMap.Rectangle
• crossWith() : createMap.Rectangle , findGoal.Rectangle , createOccGrid.Rectangle
• isPointInside() : createMap.Rectangle , findGoal.Rectangle , createOccGrid.Rectangle
• localize() : createMap.Obstacles , findGoal.Obstacles , createOccGrid.Obstacles