/** Returns the ground truth pose from the simulation. */
 @Override
 public Pose getPose() {
   if (!m_inCollision) {
     return m_odomPose.getPose();
   } else {
     return m_collisionPose;
   }
 }
 /** * Changes the pose of the robot in the simulation. */
 @Override
 public void setPose(Pose _pose) {
   m_odomPose.setPose(_pose);
 }