/**
   * @throws ClientException
   * @brief Set the goal pose (gx, gy, ga)
   */
  public void sendCommandPose(double goalX, double goalY, double goalA) throws ClientException {
    PlayerPlannerCmd command = new PlayerPlannerCmd();
    PlayerPose2d goal = new PlayerPose2d();

    goal.setPx(goalX);
    goal.setPy(goalY);
    goal.setPa(goalA);

    command.setGoal(goal);

    super.getClient().write(this, PLAYER_PLANNER_CMD_GOAL, command);
  }
 public Planner(Client client, int index) {
   super.init(client, PLAYER_PLANNER_CODE, index);
 }