pyrobosim.core.world.World.get_location_in_hallway

World.get_location_in_hallway(pose, hallway)

Gets a location in a hallway given an input pose.

Parameters:

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

• hallway (pyrobosim.core.hallway.Hallway) – The reference hallway object.

Returns:

Entity matching the input pose and hallway, or None if not valid. This could either be the Hallway itself, or None.

Return type:

pyrobosim.core.hallway.Hallway / None