SMACC2
Public Types | Public Member Functions | Static Public Member Functions | List of all members
sm_dance_bot::s_pattern_states::StiSPatternRotate3 Struct Reference

#include <sti_spattern_rotate_3.hpp>

Inheritance diagram for sm_dance_bot::s_pattern_states::StiSPatternRotate3:
Inheritance graph
Collaboration diagram for sm_dance_bot::s_pattern_states::StiSPatternRotate3:
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Public Types

typedef mpl::list< Transition< EvCbSuccess< CbAbsoluteRotate, OrNavigation >, StiSPatternForward3 >, Transition< EvCbFailure< CbAbsoluteRotate, OrNavigation >, StiSPatternRotate3 > > reactions
 
- Public Types inherited from smacc2::SmaccState< StiSPatternRotate3, SS >
typedef SS TContext
 
typedef Context::inner_context_type context_type
 
typedef context_type::state_iterator state_iterator
 
typedef mpl::list<> 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 ()
 
- Public Member Functions inherited from smacc2::SmaccState< StiSPatternRotate3, SS >
 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 Public Member Functions inherited from smacc2::SmaccState< StiSPatternRotate3, SS >
static void configure_orthogonal_runtime (std::function< void(TBehavior &bh, StiSPatternRotate3 &)> 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)
 

Additional Inherited Members

- Public Attributes inherited from smacc2::SmaccState< StiSPatternRotate3, SS >
bool finishStateThrown
 
mpl::list<> * smacc_inner_type
 
- 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 26 of file sti_spattern_rotate_3.hpp.

Member Typedef Documentation

◆ reactions

Definition at line 36 of file sti_spattern_rotate_3.hpp.

Member Function Documentation

◆ runtimeConfigure()

void sm_dance_bot::s_pattern_states::StiSPatternRotate3::runtimeConfigure ( )
inline

Definition at line 41 of file sti_spattern_rotate_3.hpp.

42 {
43 auto & superstate = this->context<SS>();
44 RCLCPP_INFO(
45 getLogger(), "[StiSPatternRotate] SpatternRotate rotate: SS current iteration: %d/%d",
46 superstate.iteration_count, SS::total_iterations());
47
48 float offset = 0;
49 // float angle = 0;
50 // if (superstate.direction() == TDirection::LEFT)
51 // angle = -90 - offset;
52 // else
53 // angle = +90 + offset;
54
55 // this->configure<OrNavigation, CbRotate>(angle);
56
57 if (superstate.direction() == TDirection::RIGHT)
58 {
59 // - offset because we are looking to the north and we have to turn clockwise
60 this->configure<OrNavigation, CbAbsoluteRotate>(0 - offset);
61 }
62 else
63 {
64 // - offset because we are looking to the south and we have to turn counter-clockwise
65 this->configure<OrNavigation, CbAbsoluteRotate>(180 + offset);
66 }
67
68 this->configure<OrNavigation, CbResumeSlam>();
69 this->configure<OrLED, CbLEDOff>();
70 }
rclcpp::Logger getLogger()
Definition: smacc_state.hpp:36

References smacc2::ISmaccState::getLogger().

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◆ staticConfigure()

static void sm_dance_bot::s_pattern_states::StiSPatternRotate3::staticConfigure ( )
inlinestatic

Definition at line 39 of file sti_spattern_rotate_3.hpp.

39{}

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