pyrobosim.core.world.World.get_location_from_pose

World.get_location_from_pose(pose: Pose, prev_location: Entity | None = None) → Entity | None

Gets the name of a location given a pose.

Parameters:

  • pose – Input pose.

  • prev_location – 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. If valid, this could be a room, hallway, or object spawn.