#include <sti_radial_end_point.hpp>

Inheritance diagram for sm_dance_bot_warehouse_2::radial_motion_states::StiRadialEndPoint:

Collaboration diagram for sm_dance_bot_warehouse_2::radial_motion_states::StiRadialEndPoint:

Public Types
typedef mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StiRadialReturn, SUCCESS >, Transition< EvCbFailure< CbNavigateForward, OrNavigation >, StiRadialReturn, ABORT > >	reactions

Public Types inherited from smacc2::SmaccState< StiRadialEndPoint, 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< StiRadialEndPoint, 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< StiRadialEndPoint, SS >
static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh, StiRadialEndPoint &)> 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< StiRadialEndPoint, 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 26 of file sti_radial_end_point.hpp.

Member Typedef Documentation

◆ reactions

typedef mpl::list< Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StiRadialReturn, SUCCESS>, Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StiRadialReturn, ABORT> > sm_dance_bot_warehouse_2::radial_motion_states::StiRadialEndPoint::reactions

Definition at line 36 of file sti_radial_end_point.hpp.

Member Function Documentation

◆ runtimeConfigure()

void sm_dance_bot_warehouse_2::radial_motion_states::StiRadialEndPoint::runtimeConfigure ( )

inline

Definition at line 47 of file sti_radial_end_point.hpp.

  {
    // float EXTRA_SECURE_DISTANCE = 0.5;
 
    ClNav2Z* navzclient;
    this->requiresClient(navzclient);
 
    //auto lidarData = lidarClient->getComponent<CpForwardObstacleDetector>();
    auto forwardDistanceComputation = navzclient->getComponent<CpSquareShapeBoundary>();
 
    auto forwardBehavior =
      this->getOrthogonal<OrNavigation>()->getClientBehavior<CbNavigateForward>();
 
    //forwardBehavior->setForwardDistance(std::min(forwardDistanceComputation->getForwardDistance() + EXTRA_SECURE_DISTANCE, 6.0f)); // at most 15 meters
    forwardBehavior->setForwardDistance(forwardDistanceComputation->getForwardDistance() ); // at most 15 meters
  }

References smacc2::ISmaccState::requiresClient().

Here is the call graph for this function:

◆ staticConfigure()

static void sm_dance_bot_warehouse_2::radial_motion_states::StiRadialEndPoint::staticConfigure ( )

inlinestatic

Definition at line 39 of file sti_radial_end_point.hpp.

  {
    //RCLCPP_INFO(getLogger(),"ssr radial end point, distance in meters: %lf", SS::ray_length_meters());
    configure_orthogonal<OrNavigation, CbNavigateForward>(SS::ray_length_meters());
    configure_orthogonal<OrNavigation, CbPauseSlam>();
    configure_orthogonal<OrLED, CbLEDOn>();
  }

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

smacc2_sm_reference_library/sm_dance_bot_warehouse_2/include/sm_dance_bot_warehouse_2/states/radial_motion_states/sti_radial_end_point.hpp

Public Types

Public Member Functions