def METHOD_NAME(self):
    origin_x = self.center[0] - 30
    origin_y = self.center[1] - 30
    self.origin = mil_tools.numpy_quat_pair_to_pose(
        [origin_x, origin_y, 0],
        [0, 0, 0, 1],
    )
    # The grid needs to have it's axes swapped since its row major
    self.grid = (
        np.zeros((self.height / self.resolution, self.width / self.resolution)) - 1
    )
    # Transforms points from ENU to ogrid frame coordinates
    self.t = np.array(
        [
            [1 / self.resolution, 0, -origin_x / self.resolution],
            [0, 1 / self.resolution, -origin_y / self.resolution],
            [0, 0, 1],
        ],
    )
    self.transform = lambda point: self.t.dot(np.append(point[:2], 1))[:2]