23namespace radial_motion_states
28 using SmaccState::SmaccState;
42 configure_orthogonal<OrNavigation, CbNavigateForward>(SS::ray_length_meters());
43 configure_orthogonal<OrNavigation, CbPauseSlam>();
44 configure_orthogonal<OrLED, CbLEDOn>();
52 auto lidarData = lidarClient->
getComponent<CpLidarSensorData>();
54 auto forwardBehavior =
57 forwardBehavior->
setForwardDistance(std::min(lidarData->forwardObstacleDistance, 6.0f));
void setForwardDistance(float distance_meters)
TComponent * getComponent()
void requiresClient(SmaccClientType *&storage)
static void staticConfigure()
mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StiRadialReturn, SUCCESS >, Transition< EvCbFailure< CbNavigateForward, OrNavigation >, StiRadialReturn, ABORT > > reactions