23namespace s_pattern_states
28 using SmaccState::SmaccState;
41 configure_orthogonal<OrNavigation, CbNavigateForward>();
42 configure_orthogonal<OrLED, CbLEDOn>();
47 auto & superstate = this->context<SS>();
48 double extrasecurityMargin = 0.2;
50 auto forwardBehavior =
55 auto lidarData = lidarClient->getComponent<CpLidarSensorData>();
57 if (!std::isnan(lidarData->forwardObstacleDistance))
58 forwardBehavior->setForwardDistance(
59 lidarData->forwardObstacleDistance -
63 forwardBehavior->setForwardDistance( superstate.pitch2_lenght_meters());
void requiresClient(SmaccClientType *&storage)
mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StiSPatternLoopStart >, Transition< EvCbFailure< CbNavigateForward, OrNavigation >, StiSPatternRotate4 > > reactions
static void staticConfigure()