It is my belief that even beggars have lessons to teach us about ourselves. For us to accept them as they are we should not judge their circumstances - we have no right to judge others unless we do it right-use-ly. By simply knowing that it is their choice we accept them as they are. Send them love (as you would to anyone else) and if you feel the need give them help which ever way you wish, that too is your choice.
Tom, even you say that you experience mixed feelings - why is it that you feel that way? Is it through fear/anger? Analyse your feelings and then you will know the lesson that individual has taught you.
Our reaction to situations is the lesson we need to learn. Identify with it. Name it. Then let it go. Know that you have identified/named and released your lesson. It shouldn`t need to be a concern to you again or repeated again. We are all Spiritual Beings only having an Earthly experience. Their purpose this time around might just be to teach us all the lessons we need to know. Some beggars are simply happy being who they are. Why??