SMACC2
st_move_cartesian_relative.hpp
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1// Copyright 2021 MyName/MyCompany Inc.
2// Copyright 2021 RobosoftAI Inc. (template)
3//
4// Licensed under the Apache License, Version 2.0 (the "License");
5// you may not use this file except in compliance with the License.
6// You may obtain a copy of the License at
7//
8// http://www.apache.org/licenses/LICENSE-2.0
9//
10// Unless required by applicable law or agreed to in writing, software
11// distributed under the License is distributed on an "AS IS" BASIS,
12// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13// See the License for the specific language governing permissions and
14// limitations under the License.
15
16/*****************************************************************************************************************
17 *
18 * Authors: Pablo Inigo Blasco, Brett Aldrich
19 *
20 *****************************************************************************************************************/
21
22#pragma once
23
24#include "rclcpp/rclcpp.hpp"
25#include "smacc2/smacc.hpp"
26
28{
29// SMACC2 classes
32using namespace smacc2;
33
34// STATE DECLARATION
35struct StMoveCartesianRelative : smacc2::SmaccState<StMoveCartesianRelative, SmTestMoveitUr5Sim>
36{
38
39 // TRANSITION TABLE
40 typedef boost::mpl::list<
43 >
45
46 // STATE FUNCTIONS
47 static void staticConfigure()
48 {
49 geometry_msgs::msg::Vector3 offset;
50 offset.x = -0.01;
51 configure_orthogonal<OrArm, CbMoveCartesianRelative>(offset);
52 }
53
54 void runtimeConfigure() { RCLCPP_INFO(getLogger(), "Entering StMoveCartesianRelative"); }
55
56 void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
57
58 void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
59};
60} // namespace sm_test_moveit_ur5_sim
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36
boost::mpl::list< Transition< EvCbSuccess< CbMoveCartesianRelative, OrArm >, StAttachObject, SUCCESS >, Transition< EvCbFailure< CbMoveCartesianRelative, OrArm >, StAttachObject, ABORT > > reactions