pyrobosim.core.world.World.get_location_from_pose

World.get_location_from_pose(pose, prev_location=None)

Gets the name of a location given a pose.

Parameters:

• pose (pyrobosim.utils.pose.Pose) – Input pose.

• prev_location (pyrobosim.core.room.Room/pyrobosim.core.hallway.Hallway/pyrobosim.core.locations.ObjectSpawn) – The robot’s previous location. This helps optimize this function by first checking the robot’s previous location.

Returns:

Entity matching the input pose, or None if not valid. This could be a room, hallway, or object spawn.

Return type:

pyrobosim.core.room.Room/pyrobosim.core.hallway.Hallway/pyrobosim.core.locations.ObjectSpawn