SMACC2
Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
sm_dance_bot::SS2::SsRadialPattern2 Struct Reference

#include <ss_radial_pattern_2.hpp>

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Public Types

typedef mpl::list< Transition< EvLoopEnd< StiRadialLoopStart >, StNavigateReverse1, ENDLOOP > > reactions
 
- Public Types inherited from smacc2::SmaccState< SsRadialPattern2, MsDanceBotRunMode, StiRadialLoopStart >
typedef MsDanceBotRunMode TContext
 
typedef Context::inner_context_type context_type
 
typedef context_type::state_iterator state_iterator
 
typedef StiRadialLoopStart LastDeepState
 
typedef base_type::outermost_context_base_type outermost_context_base_type
 
typedef base_type::inner_context_ptr_type inner_context_ptr_type
 
typedef base_type::context_ptr_type context_ptr_type
 
typedef base_type::inner_initial_list inner_initial_list
 

Public Member Functions

void runtimeConfigure ()
 
void onExit ()
 
- Public Member Functions inherited from smacc2::SmaccState< SsRadialPattern2, MsDanceBotRunMode, StiRadialLoopStart >
 SmaccState ()=delete
 
 SmaccState (my_context ctx)
 
virtual ~SmaccState ()
 
const smacc2::introspection::SmaccStateInfogetStateInfo ()
 
std::string getName () override
 
std::string getFullName ()
 
std::string getShortName ()
 
virtual ISmaccStategetParentState ()
 
void exit ()
 
void runtimeConfigure ()
 
void onEntry ()
 
void onExit ()
 
bool getGlobalSMData (std::string name, T &ret)
 
void setGlobalSMData (std::string name, T value)
 
void requiresComponent (SmaccComponentType *&storage)
 
virtual ISmaccStateMachinegetStateMachine ()
 
void checkWhileLoopConditionAndThrowEvent (bool(MostDerived::*conditionFn)())
 
void throwSequenceFinishedEvent ()
 
- Public Member Functions inherited from smacc2::ISmaccState
virtual ISmaccStateMachinegetStateMachine ()=0
 
virtual std::string getName ()=0
 
ISmaccStategetParentState ()
 
rclcpp::Node::SharedPtr & getNode ()
 
rclcpp::Logger getLogger ()
 
virtual std::string getClassName ()
 
template<typename TOrthogonal , typename TBehavior , typename... Args>
std::shared_ptr< TBehavior > configure (Args &&... args)
 
template<typename SmaccComponentType >
void requiresComponent (SmaccComponentType *&storage)
 
template<typename SmaccClientType >
void requiresClient (SmaccClientType *&storage)
 
template<typename T >
bool getGlobalSMData (std::string name, T &ret)
 
template<typename T >
void setGlobalSMData (std::string name, T value)
 
template<typename TStateReactor , typename TTriggerEvent , typename TEventList , typename... TEvArgs>
std::shared_ptr< TStateReactor > createStateReactor (TEvArgs... args)
 
template<typename TStateReactor , typename... TEvArgs>
std::shared_ptr< TStateReactor > createStateReactor (TEvArgs... args)
 
template<typename TEventGenerator , typename... TEvArgs>
std::shared_ptr< TEventGenerator > createEventGenerator (TEvArgs... args)
 
template<typename EventType >
void postEvent (const EventType &ev)
 
template<typename EventType >
void postEvent ()
 
template<typename TransitionType >
void notifyTransition ()
 
void notifyTransitionFromTransitionTypeInfo (std::shared_ptr< smacc2::introspection::TypeInfo > &transitionTypeInfo)
 
std::vector< std::shared_ptr< StateReactor > > & getStateReactors ()
 
std::vector< std::shared_ptr< SmaccEventGenerator > > & getEventGenerators ()
 
template<typename TOrthogonal >
TOrthogonal * getOrthogonal ()
 
template<typename TEventGenerator >
TEventGenerator * getEventGenerator ()
 
template<typename TStateReactor >
TStateReactor * getStateReactor ()
 

Static Public Member Functions

static void staticConfigure ()
 
static constexpr int total_iterations ()
 
static constexpr float ray_angle_increment_degree ()
 
static constexpr float ray_length_meters ()
 
- Static Public Member Functions inherited from smacc2::SmaccState< SsRadialPattern2, MsDanceBotRunMode, StiRadialLoopStart >
static void configure_orthogonal_runtime (std::function< void(TBehavior &bh, SsRadialPattern2 &)> initializationFunction)
 
static void configure_orthogonal_runtime (std::function< void(TBehavior &bh)> initializationFunction)
 
static void configure_orthogonal (Args &&... args)
 
static std::shared_ptr< smacc2::introspection::StateReactorHandlerstatic_createStateReactor (TArgs... args)
 
static std::shared_ptr< smacc2::introspection::EventGeneratorHandlerstatic_createEventGenerator (TUArgs... args)
 
static std::shared_ptr< smacc2::introspection::StateReactorHandlerstatic_createStateReactor_aux (TUArgs... args)
 
static void initial_deep_construct (outermost_context_base_type &outermostContextBase)
 
static void deep_construct (const context_ptr_type &pContext, outermost_context_base_type &outermostContextBase)
 
static inner_context_ptr_type shallow_construct (const context_ptr_type &pContext, outermost_context_base_type &outermostContextBase)
 

Public Attributes

int iteration_count = 0
 
- Public Attributes inherited from smacc2::SmaccState< SsRadialPattern2, MsDanceBotRunMode, StiRadialLoopStart >
bool finishStateThrown
 
StiRadialLoopStart * smacc_inner_type
 

Additional Inherited Members

- Protected Attributes inherited from smacc2::ISmaccState
rclcpp::Node::SharedPtr node_
 
std::shared_ptr< rclcpp::Logger > logger_
 
std::vector< std::shared_ptr< StateReactor > > stateReactors_
 
std::vector< std::shared_ptr< smacc2::SmaccEventGenerator > > eventGenerators_
 
ISmaccStateparentState_
 
const smacc2::introspection::SmaccStateInfostateInfo_
 

Detailed Description

Definition at line 41 of file ss_radial_pattern_2.hpp.

Member Typedef Documentation

◆ reactions

typedef mpl::list< Transition<EvLoopEnd<StiRadialLoopStart>, StNavigateReverse1, ENDLOOP> > sm_dance_bot::SS2::SsRadialPattern2::reactions

Definition at line 52 of file ss_radial_pattern_2.hpp.

Member Function Documentation

◆ onExit()

void sm_dance_bot::SS2::SsRadialPattern2::onExit ( )
inline

Definition at line 67 of file ss_radial_pattern_2.hpp.

68 {
69 rclcpp::sleep_for(5s);
70 RCLCPP_INFO(getLogger(), "[SsRadialPattern1] waiting 5 seconds");
71 }
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36

References smacc2::ISmaccState::getLogger(), and service_node_3::s.

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◆ ray_angle_increment_degree()

static constexpr float sm_dance_bot::SS2::SsRadialPattern2::ray_angle_increment_degree ( )
inlinestaticconstexpr

Definition at line 64 of file ss_radial_pattern_2.hpp.

64{ return 360.0 / total_iterations(); }

References total_iterations().

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◆ ray_length_meters()

static constexpr float sm_dance_bot::SS2::SsRadialPattern2::ray_length_meters ( )
inlinestaticconstexpr

Definition at line 65 of file ss_radial_pattern_2.hpp.

65{ return 5; }

◆ runtimeConfigure()

void sm_dance_bot::SS2::SsRadialPattern2::runtimeConfigure ( )
inline

Definition at line 60 of file ss_radial_pattern_2.hpp.

60{}

◆ staticConfigure()

static void sm_dance_bot::SS2::SsRadialPattern2::staticConfigure ( )
inlinestatic

Definition at line 55 of file ss_radial_pattern_2.hpp.

56 {
57 //configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
58 }

◆ total_iterations()

static constexpr int sm_dance_bot::SS2::SsRadialPattern2::total_iterations ( )
inlinestaticconstexpr

Definition at line 63 of file ss_radial_pattern_2.hpp.

63{ return 16; }

Referenced by ray_angle_increment_degree().

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Member Data Documentation

◆ iteration_count

int sm_dance_bot::SS2::SsRadialPattern2::iteration_count = 0

Definition at line 62 of file ss_radial_pattern_2.hpp.


The documentation for this struct was generated from the following file: