def METHOD_NAME(self, pose_start, pose_target):
    """
    Sets the start and target positions of the robot
    Parameters
    ----------
    pose_start : (Pose)
        Start postion of the robot (see the Pose class)
    pose_target : (Pose)
        Target postion of the robot (see the Pose class)
    """
    self.pose_start = copy.copy(pose_start)
    self.pose_target = pose_target
    self.pose = pose_start