sm_dance_bot_warehouse::s_pattern_states::StiSPatternForward4 Struct Reference

#include <sti_spattern_forward_4.hpp>

Inheritance diagram for sm_dance_bot_warehouse::s_pattern_states::StiSPatternForward4:

Collaboration diagram for sm_dance_bot_warehouse::s_pattern_states::StiSPatternForward4:

Public Types
typedef mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StiSPatternLoopStart > >	reactions
Public Types inherited from smacc2::SmaccState< StiSPatternForward4, 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< StiSPatternForward4, SS >
	SmaccState ()=delete
	SmaccState (my_context ctx)
virtual	~SmaccState ()
const smacc2::introspection::SmaccStateInfo *	getStateInfo ()
std::string	getName () override
std::string	getFullName ()
std::string	getShortName ()
virtual ISmaccState *	getParentState ()
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 ISmaccStateMachine &	getStateMachine ()
void	checkWhileLoopConditionAndThrowEvent (bool(MostDerived::*conditionFn)())
void	throwSequenceFinishedEvent ()
Public Member Functions inherited from smacc2::ISmaccState
virtual ISmaccStateMachine &	getStateMachine ()=0
virtual std::string	getName ()=0
ISmaccState *	getParentState ()
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< StiSPatternForward4, SS >
static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh, StiSPatternForward4 &)> initializationFunction)
static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh)> initializationFunction)
static void	configure_orthogonal (Args &&... args)
static std::shared_ptr< smacc2::introspection::StateReactorHandler >	static_createStateReactor (TArgs... args)
static std::shared_ptr< smacc2::introspection::EventGeneratorHandler >	static_createEventGenerator (TUArgs... args)
static std::shared_ptr< smacc2::introspection::StateReactorHandler >	static_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< StiSPatternForward4, 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_
ISmaccState *	parentState_
const smacc2::introspection::SmaccStateInfo *	stateInfo_

Detailed Description

Definition at line 27 of file sti_spattern_forward_4.hpp.

Member Typedef Documentation

reactions

typedef mpl::list< Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StiSPatternLoopStart> > sm_dance_bot_warehouse::s_pattern_states::StiSPatternForward4::reactions

Definition at line 37 of file sti_spattern_forward_4.hpp.

Member Function Documentation

runtimeConfigure()

void sm_dance_bot_warehouse::s_pattern_states::StiSPatternForward4::runtimeConfigure ( )

inline

Definition at line 47 of file sti_spattern_forward_4.hpp.

  {
    //auto &superstate = this->context<SS>();
 
    auto & superstate = this->context<SS>();
    double extrasecurityMargin = 0.1;
 
    auto forwardBehavior =
      this->getOrthogonal<OrNavigation>()->getClientBehavior<CbNavigateForward>();
 
    cl_lidar::ClLidarSensor * lidarClient;
    this->requiresClient(lidarClient);
    auto lidarData = lidarClient->getComponent<CpForwardObstacleDetector>();
 
    float fwdist = lidarData->getForwardDistance(25);
    if (!std::isnan(fwdist))
      forwardBehavior->setForwardDistance(
        fwdist -
        extrasecurityMargin); /*extra security margin for easy dynamic implementation of dynamic-smotion*/
 
    else
      forwardBehavior->setForwardDistance( superstate.pitch2_lenght_meters());
  }

References sm_dance_bot_warehouse::cl_lidar::CpForwardObstacleDetector::getForwardDistance(), and smacc2::ISmaccState::requiresClient().

Here is the call graph for this function:

staticConfigure()

static void sm_dance_bot_warehouse::s_pattern_states::StiSPatternForward4::staticConfigure ( )

inlinestatic

Definition at line 40 of file sti_spattern_forward_4.hpp.

  {
    configure_orthogonal<OrNavigation, CbNavigateForward>();
    configure_orthogonal<OrNavigation, CbPauseSlam>();
    configure_orthogonal<OrLED, CbLEDOn>();
  }

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

• smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/states/s_pattern_states/sti_spattern_forward_4.hpp