23namespace f_pattern_states
29 typedef SmaccState<StiFPatternForward1<SS>,
SS>
TSti;
30 using TSti::context_type;
31 using TSti::SmaccState;
45 TSti::template configure_orthogonal<OrNavigation, CbNavigateForward>(SS::ray_lenght_meters());
46 TSti::template configure_orthogonal<OrNavigation, CbPauseSlam>();
47 TSti::template configure_orthogonal<OrLED, CbLEDOn>();
55 auto lidarData = lidarClient->
getComponent<CpLidarSensorData>();
57 auto forwardBehavior =
58 TSti::template getOrthogonal<OrNavigation>()->template getClientBehavior<CbNavigateForward>();
60 forwardBehavior->setForwardDistance( lidarData->forwardObstacleDistance);
62 this->
getLogger(),
"Going forward in F pattern, distance to wall: %lf",
63 lidarData->forwardObstacleDistance);
TComponent * getComponent()
rclcpp::Logger getLogger()
void requiresClient(SmaccClientType *&storage)
SmaccState< StiFPatternForward1< SS >, SS > TSti
static void staticConfigure()
mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StiFPatternReturn1< SS > >, Transition< EvCbFailure< CbNavigateForward, OrNavigation >, StiFPatternReturn1< SS >, ABORT > > reactions