diff --git a/include/units/Pose.hpp b/include/units/Pose.hpp
index a2b1114..acc903f 100644
--- a/include/units/Pose.hpp
+++ b/include/units/Pose.hpp
@@ -64,13 +64,6 @@ template <typename derivatives> class AbstractPose
          */
         AbstractPose(Len x, Len y, Divided<Angle, Exponentiated<Time, derivatives>> orientation)
             : Vector(x, y), orientation(orientation) {}
-
-        /**
-         * @brief Get the orientation
-         *
-         * @return Angle orientation
-         */
-        Divided<Angle, Exponentiated<Time, derivatives>> getOrientation() const { return orientation; }
 };
 
 // Position Pose (Length, Angle)
diff --git a/src/main.cpp b/src/main.cpp
index dff5905..6003ac6 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -32,10 +32,10 @@ void initialize() {
     Number num = Number(1.0);
     num = Number(0.0);
     a.theta().convert(deg);
-    a.setOrientation(Quantity<std::ratio<0>, std::ratio<0>, std::ratio<-2>, std::ratio<0>, std::ratio<1>, std::ratio<0>,
-                              std::ratio<0>, std::ratio<0>>(1.0));
-    a.getOrientation() += 2_rpm2;
-    2_rpm2 -= a.getOrientation();
+    a.orientation = Quantity<std::ratio<0>, std::ratio<0>, std::ratio<-2>, std::ratio<0>, std::ratio<1>, std::ratio<0>,
+                             std::ratio<0>, std::ratio<0>>(1.0);
+    a.orientation += 2_rpm2;
+    2_rpm2 -= a.orientation;
     to_cDeg(Quantity<std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>, std::ratio<0>,
                      std::ratio<0>, std::ratio<0>>(5.0) -
             a.theta() + 5_cDeg);
@@ -47,10 +47,11 @@ void initialize() {
     Length z = toLinear<Angle>(y, 2_cm);
     static_assert(Angle(5.1) >= Quantity<std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>,
                                          std::ratio<0>, std::ratio<0>, std::ratio<0>>(5.0));
-    units::clamp(2_cDeg, a.theta(), Quantity<std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>,
-                                         std::ratio<0>, std::ratio<0>, std::ratio<0>>(5.0));
-    units::max(10_celsius, Quantity<std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>,
-                              std::ratio<0>, std::ratio<0>>(1.0));
+    units::clamp(2_cDeg, a.theta(),
+                 Quantity<std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>, std::ratio<0>,
+                          std::ratio<0>, std::ratio<0>>(5.0));
+    units::max(10_celsius, Quantity<std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>,
+                                    std::ratio<1>, std::ratio<0>, std::ratio<0>>(1.0));
 }
 
 /**