23namespace f_pattern_states
31 typedef SmaccState<StiFPatternForward1<SS>,
SS>
TSti;
32 using TSti::context_type;
33 using TSti::SmaccState;
47 TSti::template configure_orthogonal<OrNavigation, CbNavigateForward>();
48 TSti::template configure_orthogonal<OrNavigation, CbPauseSlam>();
49 TSti::template configure_orthogonal<OrLED, CbLEDOn>();
59 auto forwardBehavior =
60 TSti::template getOrthogonal<OrNavigation>()->template getClientBehavior<CbNavigateForward>();
62 forwardBehavior->setForwardDistance( lidarData->getForwardDistance());
64 this->
getLogger(),
"Going forward in F pattern, distance to wall: %lf",
65 lidarData->getForwardDistance());
TComponent * getComponent()
rclcpp::Logger getLogger()
void requiresClient(SmaccClientType *&storage)
mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StiFPatternReturn1< SS > >, Transition< EvCbFailure< CbNavigateForward, OrNavigation >, StiFPatternRetryRelativeForward1< SS >, ABORT > > reactions
SmaccState< StiFPatternForward1< SS >, SS > TSti
static void staticConfigure()