SMACC2
st_initial_spinning.hpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
20
21#pragma once
22
23#include <smacc2/smacc.hpp>
24
26{
27using cl_nav2zclient::CbPureSpinning;
28
29// STATE DECLARATION
30struct StInitialSpinning : smacc2::SmaccState<StInitialSpinning, MsDanceBotRunMode>
31{
32 using SmaccState::SmaccState;
33
34 // TRANSITION TABLE
35 typedef mpl::list<
36
37 Transition<EvCbSuccess<CbPureSpinning, OrNavigation>, StNavigateToWaypoint1, SUCCESS>,
38 Transition<EvCbFailure<CbPureSpinning, OrNavigation>, StNavigateToWaypoint1, ABORT>
39
41
42 // STATE FUNCTIONS
43 static void staticConfigure()
44 {
45 configure_orthogonal<OrNavigation, CbPureSpinning>(2.0*M_PI, 1.0 /*rad_s*/);
46 configure_orthogonal<OrNavigation, CbResumeSlam>();
47 }
48};
49} // namespace sm_dance_bot_warehouse_3
mpl::list< Transition< EvCbSuccess< CbPureSpinning, OrNavigation >, StNavigateToWaypoint1, SUCCESS >, Transition< EvCbFailure< CbPureSpinning, OrNavigation >, StNavigateToWaypoint1, ABORT > > reactions