SMACC2
sti_radial_end_point_recovery.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
22{
23namespace radial_motion_states
24{
25// STATE DECLARATION
26struct StiRadialEndPointRecovery : smacc2::SmaccState<StiRadialEndPointRecovery, SS>
27{
28 using SmaccState::SmaccState;
29
30 // TRANSITION TABLE
31 typedef mpl::list<
32
33 Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StiRadialReturn, SUCCESS>,
34 Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StiRadialEndPointRecovery, ABORT>
35
37
38 // STATE FUNCTIONS
39 static void staticConfigure()
40 {
41 //RCLCPP_INFO(getLogger(),"ssr radial end point, distance in meters: %lf", SS::ray_length_meters());
42 configure_orthogonal<OrNavigation, CbRetry<CbNavigateForward>>();
43 configure_orthogonal<OrNavigation, CbPauseSlam>();
44 configure_orthogonal<OrLED, CbLEDOn>();
45 }
46
48 {
49 }
50};
51} // namespace radial_motion_states
52} // namespace sm_dance_bot_warehouse_3
mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StiRadialReturn, SUCCESS >, Transition< EvCbFailure< CbNavigateForward, OrNavigation >, StiRadialEndPointRecovery, ABORT > > reactions