/** 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);
}