diff --git a/Perception.cpp b/Perception.cpp
index c5d225d..4cd4a8a 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -201,6 +201,8 @@ unsigned char Perception::PerceivedObjectCount() {
   return objectCount;
 }
 
+PerceivedObject **Perception::GetPerceivedObjects() { return perceivedObjects; }
+
 void Perception::Update(float currentTimeMs) {
   float deltaTime = currentTimeMs - lastUpdateTimeMs;
   if (deltaTime <= 0)
diff --git a/Perception.h b/Perception.h
index 115bf92..d66aa4c 100644
--- a/Perception.h
+++ b/Perception.h
@@ -16,7 +16,7 @@ public:
   static constexpr float equalityAngle = 5.0F;
   bool IsTheSameAs(PerceivedObject *otherObj);
 
-  int id;
+  char id;
 
   Polar position;
   float radius;
@@ -96,6 +96,7 @@ public:
 
   void AddPerceivedObject(PerceivedObject *obj);
   unsigned char PerceivedObjectCount();
+  PerceivedObject **GetPerceivedObjects();
 
   // mainly used for confidence update
   void Update(float currentTimeMs);