23namespace s_pattern_states
28 using SmaccState::SmaccState;
41 configure_orthogonal<OrNavigation, CbNavigateForward>();
42 configure_orthogonal<OrNavigation, CbPauseSlam>();
43 configure_orthogonal<OrLED, CbLEDOn>();
48 auto & superstate = this->context<SS>();
50 double extrasecurityMargin = 0.2;
52 auto forwardBehavior =
57 auto lidarData = lidarClient->getComponent<CpLidarSensorData>();
59 if (!std::isnan(lidarData->forwardObstacleDistance))
60 forwardBehavior->setForwardDistance(
61 lidarData->forwardObstacleDistance -
65 forwardBehavior->setForwardDistance( superstate.pitch2_lenght_meters());
void requiresClient(SmaccClientType *&storage)
mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StiSPatternRotate3 >, Transition< EvCbFailure< CbNavigateForward, OrNavigation >, StiSPatternRotate2 > > reactions
static void staticConfigure()