pyrobosim.core.world.World.get_location_in_hallway

World.get_location_in_hallway(pose: Pose, hallway: Hallway) → Hallway | None

Gets a location in a hallway given an input pose.

Parameters:

• pose – Input pose.

• 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.