function se2Pose = exampleHelperUpdatePose(veh, pos, vel, orient)
%exampleHelperUpdatePose Update drivingScenario actor state and extract SE2 pose

% Copyright 2020 The MathWorks, Inc.
    
    % Update actor
    veh.Position = pos;
    veh.Velocity = vel;
    rpy = eulerd(orient, 'ZYX', 'frame');
    veh.Yaw = rpy(1);
    veh.Pitch = rpy(2);
    veh.Roll = rpy(3);
    
    % Return SE2 pose
    se2Pose = [pos(1:2) rpy(1)*pi/180];
end