text: #!/usr/bin/env python
  (lambda __operator, __g, __y: [[[[[[[[[(lambda __mod: [(lambda __mod: [[(lambda __after: (rospy.init_node(l1l11l_opy_(u'\u0827\u0874\u0876\u0864\u0878\u086a\u0865\u0865\u0874\u0876\u086c\u0871\u0866\u087a\u086f\u0873\u0829\u088f'), anonymous=True), [(rospy.spin(), __after())[1] for __g['l1111l11_opy_'] in [(l1lll1111_opy_())]][0])[1] if (__name__ == l1l11l_opy_(u'\u082d\u085f\u0860\u086f\u0864\u086d\u0873\u0865\u085f\u0828\u088e')) else __after())(lambda: None) for __g['l1lll1111_opy_'] in [((lambda b, d: d.get('__metaclass__', getattr(b[0], '__class__', type(b[0])))('l1lll1111_opy_', b, d))((object,), (lambda __l: [[[[__l for __l['l11111ll_opy_'], __l['l11111ll_opy_'].__name__ in [(lambda self, l11l1l11_opy_: (lambda __l: [(__l['self'].l1lll111l_opy_(__l['l11l1l11_opy_']), [[[[[(__l['self'].l1llll1ll_opy_.publish(__l['l1111111_opy_']), (__l['self'].l1lll1lll_opy_(__l['l11l1l11_opy_']), [[[[[(__l['self'].l1lllll11_opy_.publish(__l['l1lll11l1_opy_']), None)[1] for __l['l1lll11l1_opy_'].pose.theta in [(__l['self'].x[2])]][0] for __l['l1lll11l1_opy_'].pose.y in [(__l['self'].x[1])]][0] for __l['l1lll11l1_opy_'].pose.x in [(__l['self'].x[0])]][0] for __l['l1lll11l1_opy_'].header.stamp in [(__l['l11l1l11_opy_'].header.stamp)]][0] for __l['l1lll11l1_opy_'] in [(RobotPose())]][0])[1])[1] for __l['l1111111_opy_'].pose.theta in [(__l['self'].l111111l_opy_[2])]][0] for __l['l1111111_opy_'].pose.y in [(__l['self'].l111111l_opy_[1])]][0] for __l['l1111111_opy_'].pose.x in [(__l['self'].l111111l_opy_[0])]][0] for __l['l1111111_opy_'].header.stamp in [(__l['l11l1l11_opy_'].header.stamp)]][0] for __l['l1111111_opy_'] in [(RobotPose())]][0])[1] for __l['self'], __l['l11l1l11_opy_'] in [(self, l11l1l11_opy_)]][0])({}), 'l11111ll_opy_')]][0] for __l['l1lll1lll_opy_'], __l['l1lll1lll_opy_'].__name__ in [(lambda self, l11l1l11_opy_: (lambda __l: [[[[[[[[[[(lambda __items, __after, __sentinel: __y(lambda __this: lambda: (lambda __i: [[[[[(lambda __after: (__l['readings'].append(__l['l11l1l11_opy_'].readings[__l['i']]), __after())[1] if (math.sqrt((((__l['xr'] - __l['l1111lll_opy_']) * (__l['xr'] - __l['l1111lll_opy_'])) + ((__l['l1lll1ll1_opy_'] - __l['l1llllll1_opy_']) * (__l['l1lll1ll1_opy_'] - __l['l1llllll1_opy_'])))) > 0.1) else __after())(lambda: __this()) for __l['l1llllll1_opy_'] in [(__l['l11l1l11_opy_'].readings[__l['i']].landmark.y)]][0] for __l['l1111lll_opy_'] in [(__l['l11l1l11_opy_'].readings[__l['i']].landmark.x)]][0] for __l['l1lll1ll1_opy_'] in [(__l['l1lll1l11_opy_'][1])]][0] for __l['xr'] in [(__l['l1lll1l11_opy_'][0])]][0] for __l['i'] in [(__i)]][0] if __i is not __sentinel else __after())(next(__items, __sentinel)))())(iter(range(0, len(__l['l11l1l11_opy_'].readings))), lambda: (lambda __after: [[None for __l['self'].P in [(__l['l1111ll1_opy_'])]][0] for __l['self'].x in [(__l['l1lll1l11_opy_'])]][0] if (len(__l['readings']) == 0) else __after())(lambda: [(lambda __items, __after, __sentinel: __y(lambda __this: lambda: (lambda __i: [[[[[[[[[[[__this() for __l['H'][(((2 * __l['i']) + 1), 2)] in [(-1)]][0] for __l['H'][(((2 * __l['i']) + 1), 1)] in [(((-(__l['l1111lll_opy_'] - __l['xr'])) / (((__l['l1111lll_opy_'] - __l['xr']) * (__l['l1111lll_opy_'] - __l['xr'])) + ((__l['l1llllll1_opy_'] - __l['l1lll1ll1_opy_']) * (__l['l1llllll1_opy_'] - __l['l1lll1ll1_opy_'])))))]][0] for __l['H'][(((2 * __l['i']) + 1), 0)] in [(((__l['l1llllll1_opy_'] - __l['l1lll1ll1_opy_']) / (((__l['l1111lll_opy_'] - __l['xr']) * (__l['l1111lll_opy_'] - __l['xr'])) + ((__l['l1llllll1_opy_'] - __l['l1lll1ll1_opy_']) * (__l['l1llllll1_opy_'] - __l['l1lll1ll1_opy_'])))))]][0] for __l['H'][(((2 * __l['i']) + 0), 2)] in [(0)]][0] for __l['H'][(((2 * __l['i']) + 0), 1)] in [(((__l['l1lll1ll1_opy_'] - __l['l1llllll1_opy_']) / math.sqrt((((__l['xr'] - __l['l1111lll_opy_']) * (__l['xr'] - __l['l1111lll_opy_'])) + ((__l['l1lll1ll1_opy_'] - __l['l1llllll1_opy_']) * (__l['l1lll1ll1_opy_'] - __l['l1llllll1_opy_']))))))]][0] for __l['H'][(((2 * __l['i']) + 0), 0)] in [(((__l['xr'] - __l['l1111lll_opy_']) / math.sqrt((((__l['xr'] - __l['l1111lll_opy_']) * (__l['xr'] - __l['l1111lll_opy_'])) + ((__l['l1lll1ll1_opy_'] - __l['l1llllll1_opy_']) * (__l['l1lll1ll1_opy_'] - __l['l1llllll1_opy_']))))))]][0] for __l['l1llllll1_opy_'] in [(__l['readings'][__l['i']].landmark.y)]][0] for __l['l1111lll_opy_'] in [(__l['readings'][__l['i']].landmark.x)]][0] for __l['l1lll1ll1_opy_'] in [(__l['l1lll1l11_opy_'][1])]][0] for __l['xr'] in [(__l['l1lll1l11_opy_'][0])]][0] for __l['i'] in [(__i)]][0] if __i is not __sentinel else __after())(next(__items, __sentinel)))())(iter(range(0, len(__l['readings']))), lambda: [(lambda __items, __after, __sentinel: __y(lambda __this: lambda: (lambda __i: [[[[[[[[(lambda __after: __y(lambda __this: lambda: [__this() for __l['l1lll1l1l_opy_'] in [(__operator.isub(__l['l1lll1l1l_opy_'], (2 * math.pi)))]][0] if (__l['l1lll1l1l_opy_'] > math.pi) else __after())())(lambda: (lambda __after: __y(lambda __this: lambda: [__this() for __l['l1lll1l1l_opy_'] in [(__operator.iadd(__l['l1lll1l1l_opy_'], (2 * math.pi)))]][0] if (__l['l1lll1l1l_opy_'] < (-math.pi)) else __after())())(lambda: [__this() for __l['l11111l1_opy_'][((2 * __l['i']) + 1)] in [(__l['l1lll1l1l_opy_'])]][0])) for __l['l1lll1l1l_opy_'] in [((__l['readings'][__l['i']].bearing - (math.atan2((__l['l1llllll1_opy_'] - __l['l1lll1ll1_opy_']), (__l['l1111lll_opy_'] - __l['xr'])) - __l['l1lllllll_opy_'])))]][0] for __l['l11111l1_opy_'][((2 * __l['i']) + 0)] in [((__l['readings'][__l['i']].range - math.sqrt((((__l['xr'] - __l['l1111lll_opy_']) * (__l['xr'] - __l['l1111lll_opy_'])) + ((__l['l1lll1ll1_opy_'] - __l['l1llllll1_opy_']) * (__l['l1lll1ll1_opy_'] - __l['l1llllll1_opy_']))))))]][0] for __l['l1llllll1_opy_'] in [(__l['readings'][__l['i']].landmark.y)]][0] for __l['l1111lll_opy_'] in [(__l['readings'][__l['i']].landmark.x)]][0] for __l['l1lllllll_opy_'] in [(__l['l1lll1l11_opy_'][2])]][0] for __l['l1lll1ll1_opy_'] in [(__l['l1lll1l11_opy_'][1])]][0] for __l['xr'] in [(__l['l1lll1l11_opy_'][0])]][0] for __l['i'] in [(__i)]][0] if __i is not __sentinel else __after())(next(__items, __sentinel)))())(iter(range(0, len(__l['readings']))), lambda: [(lambda __items, __after, __sentinel: __y(lambda __this: lambda: (lambda __i: [[[__this() for __l['l1llll11l_opy_'][(((2 * __l['i']) + 1), ((2 * __l['i']) + 1))] in [(0.05)]][0] for __l['l1llll11l_opy_'][((2 * __l['i']), (2 * __l['i']))] in [(0.1)]][0] for __l['i'] in [(__i)]][0] if __i is not __sentinel else __after())(next(__items, __sentinel)))())(iter(range(len(__l['readings']))), lambda: [[[[None for __l['self'].P in [((__l['l1111ll1_opy_'] - numpy.dot(__l['l1llll1l1_opy_'], numpy.dot(__l['H'], __l['l1111ll1_opy_']))))]][0] for __l['self'].x in [((__l['l1lll1l11_opy_'] + numpy.dot(__l['l1llll1l1_opy_'], __l['l11111l1_opy_'])))]][0] for __l['l1llll1l1_opy_'] in [(numpy.dot(numpy.dot(__l['l1111ll1_opy_'], numpy.transpose(__l['H'])), numpy.linalg.inv(__l['S'])))]][0] for __l['S'] in [((numpy.dot(__l['H'], numpy.dot(__l['l1111ll1_opy_'], numpy.transpose(__l['H']))) + __l['l1llll11l_opy_']))]][0], []) for __l['l1llll11l_opy_'] in [(numpy.zeros(((2 * len(__l['readings'])), (2 * len(__l['readings'])))))]][0], []) for __l['l11111l1_opy_'] in [(numpy.zeros(((2 * len(__l['readings'])), 1)))]][0], []) for __l['H'] in [(numpy.zeros(((2 * len(__l['readings'])), 3)))]][0]), []) for __l['readings'] in [([])]][0] for __l['l1111ll1_opy_'] in [((numpy.dot(__l['F'], numpy.dot(__l['self'].P, numpy.transpose(__l['F']))) + __l['self'].l1llll111_opy_))]][0] for __l['F'][(1, 2)] in [(((math.cos(__l['self'].x[2]) * __l['l11l1l11_opy_'].vel_trans) * __l['self'].l11ll111_opy_))]][0] for __l['F'][(0, 2)] in [((((-math.sin(__l['self'].x[2])) * __l['l11l1l11_opy_'].vel_trans) * __l['self'].l11ll111_opy_))]][0] for __l['F'] in [(numpy.identity(3))]][0] for __l['l1lll1l11_opy_'][2] in [((__l['self'].x[2] + (__l['self'].l11ll111_opy_ * __l['l11l1l11_opy_'].vel_ang)))]][0] for __l['l1lll1l11_opy_'][1] in [((__l['self'].x[1] + ((__l['self'].l11ll111_opy_ * __l['l11l1l11_opy_'].vel_trans) * math.sin(__l['self'].x[2]))))]][0] for __l['l1lll1l11_opy_'][0] in [((__l['self'].x[0] + ((__l['self'].l11ll111_opy_ * __l['l11l1l11_opy_'].vel_trans) * math.cos(__l['self'].x[2]))))]][0] for __l['l1lll1l11_opy_'] in [(numpy.zeros((3, 1)))]][0] for __l['self'], __l['l11l1l11_opy_'] in [(self, l11l1l11_opy_)]][0])({}), 'l1lll1lll_opy_')]][0] for __l['l1lll111l_opy_'], __l['l1lll111l_opy_'].__name__ in [(lambda self, l11l1l11_opy_: (lambda __l: [[[[None for __l['self'].l111111l_opy_[2] in [((__l['self'].l111111l_opy_[2] + (__l['self'].l11ll111_opy_ * __l['l11l1l11_opy_'].vel_ang)))]][0] for __l['self'].l111111l_opy_[1] in [((__l['self'].l111111l_opy_[1] + ((__l['self'].l11ll111_opy_ * __l['l11l1l11_opy_'].vel_trans) * math.sin(__l['self'].l111111l_opy_[2]))))]][0] for __l['self'].l111111l_opy_[0] in [((__l['self'].l111111l_opy_[0] + ((__l['self'].l11ll111_opy_ * __l['l11l1l11_opy_'].vel_trans) * math.cos(__l['self'].l111111l_opy_[2]))))]][0] for __l['self'], __l['l11l1l11_opy_'] in [(self, l11l1l11_opy_)]][0])({}), 'l1lll111l_opy_')]][0] for __l['__init__'], __l['__init__'].__name__ in [(lambda self: (lambda __l: [[[[[[[[[[[(rospy.Subscriber(l1l11l_opy_(u'\u0827\u0835\u0873\u0866\u0870\u0876\u0873\u0877\u0865\u0864\u0862\u0876\u0864\u0826\u088d'), SensorData, __l['self'].l11111ll_opy_), None)[1] for __l['self'].l11ll111_opy_ in [(0.01)]][0] for __l['self'].l1llll111_opy_[(2, 2)] in [(0.005)]][0] for __l['self'].l1llll111_opy_[(1, 1)] in [(0.0025)]][0] for __l['self'].l1llll111_opy_[(0, 0)] in [(0.0025)]][0] for __l['self'].l1llll111_opy_ in [(numpy.zeros((3, 3)))]][0] for __l['self'].P in [(numpy.zeros((3, 3)))]][0] for __l['self'].l111111l_opy_ in [(numpy.zeros((3, 1)))]][0] for __l['self'].x in [(numpy.zeros((3, 1)))]][0] for __l['self'].l1lllll11_opy_ in [(rospy.Publisher(l1l11l_opy_(u'\u0826\u0834\u086d\u0874\u0860\u0872\u0872\u0877\u086a\u0865\u0865\u0874\u0876\u086c\u0871\u0866\u087a\u0865\u0823\u088c'), RobotPose, queue_size=1))]][0] for __l['self'].l1llll1ll_opy_ in [(rospy.Publisher(l1l11l_opy_(u'\u0825\u0833\u086c\u087a\u085f\u0870\u0866\u0872\u0871\u086a\u087a\u0872\u087a\u0824\u088b'), RobotPose, queue_size=1))]][0] for __l['self'] in [(self)]][0])({}), '__init__')]][0])({'__module__': __name__})))]][0] for __g['SensorData'] in [(__mod.SensorData)]][0])(__import__('state_estimator.msg', __g, __g, ('SensorData',), 0)) for __g['RobotPose'] in [(__mod.RobotPose)]][0])(__import__('state_estimator.msg', __g, __g, ('RobotPose',), 0)) for __g['rospy'] in [(__import__('rospy', __g, __g))]][0] for __g['time'] in [(__import__('time', __g, __g))]][0] for __g['numpy'] in [(__import__('numpy', __g, __g))]][0] for __g['math'] in [(__import__('math', __g, __g))]][0] for __g['l1l11l_opy_'], l1l11l_opy_.__name__ in [(lambda keyedStringLiteral: (lambda __l: [[[[[(lambda __after: [__after() for __l['stringLiteral'] in [(unicode().join([unichr(((ord(__l['char']) - l1111l_opy_) - ((__l['charIndex'] + __l['stringNr']) % l11l1_opy_))) for (__l['charIndex'], __l['char']) in enumerate(__l['recodedStringLiteral'])]))]][0] if ll_opy_ else [__after() for __l['stringLiteral'] in [(str().join([chr(((ord(__l['char']) - l1111l_opy_) - ((__l['charIndex'] + __l['stringNr']) % l11l1_opy_))) for (__l['charIndex'], __l['char']) in enumerate(__l['recodedStringLiteral'])]))]][0])(lambda: eval(__l['stringLiteral'])) for __l['recodedStringLiteral'] in [((__l['rotatedStringLiteral'][:__l['rotationDistance']] + __l['rotatedStringLiteral'][__l['rotationDistance']:]))]][0] for __l['rotationDistance'] in [((__l['stringNr'] % len(__l['rotatedStringLiteral'])))]][0] for __l['rotatedStringLiteral'] in [(__l['keyedStringLiteral'][:-1])]][0] for __l['stringNr'] in [(ord(__l['keyedStringLiteral'][-1]))]][0] for __l['keyedStringLiteral'] in [(keyedStringLiteral)]][0])({}), 'l1l11l_opy_')]][0] for __g['l11l1_opy_'] in [(7)]][0] for __g['l1111l_opy_'] in [(2048)]][0] for __g['ll_opy_'] in [((sys.version_info[0] == 2))]][0] for __g['sys'] in [(__import__('sys', __g, __g))]][0])(__import__('operator', level=0), globals(), (lambda f: (lambda x: x(x))(lambda y: f(lambda: y(y)()))))
  