23namespace radial_motion_states
28 using SmaccState::SmaccState;
41 configure_orthogonal<OrNavigation, CbAbsoluteRotate>();
42 configure_orthogonal<OrNavigation, CbResumeSlam>();
43 configure_orthogonal<OrLED, CbLEDOff>();
48 auto cbAbsRotate = this->getOrthogonal<OrNavigation>()->getClientBehavior<CbAbsoluteRotate>();
50 cbAbsRotate->spinningPlanner = SpinningPlanner::PureSpinning;
52 auto & superstate = this->context<SS>();
53 cbAbsRotate->absoluteGoalAngleDegree =
54 superstate.iteration_count * SS::ray_angle_increment_degree();
mpl::list< Transition< EvCbSuccess< CbAbsoluteRotate, OrNavigation >, StiRadialEndPoint, SUCCESS >, Transition< EvCbFailure< CbAbsoluteRotate, OrNavigation >, StiRadialRotate, ABORT > > reactions
static void staticConfigure()