def METHOD_NAME(self, alarm: Alarm):
    """
    Clears the kill imposed on the class.
    Args:
        alarm (ros_alarms.Alarm): The alarm which is used to determine if a clear
          needs to occur.
    """
    msg = ""
    if alarm.clear:
        if self._killed:
            self._killed = False
            self.odom_discontinuity = False
            msg = "Odom kill successfully cleared!"
        else:
            msg = "Attempted to clear odom kill, but was already not killed."
        rospy.logwarn(msg)