23namespace s_pattern_states
28 using SmaccState::SmaccState;
43 auto & superstate = this->context<SS>();
45 getLogger(),
"[StiSPatternRotate] SpatternRotate rotate: SS current iteration: %d/%d",
46 superstate.iteration_count, SS::total_iterations());
57 if (superstate.direction() == TDirection::RIGHT)
60 this->configure<OrNavigation, CbAbsoluteRotate>(0 - offset);
65 this->configure<OrNavigation, CbAbsoluteRotate>(180 + offset);
68 this->configure<OrNavigation, CbResumeSlam>();
69 this->configure<OrLED, CbLEDOff>();
rclcpp::Logger getLogger()
static void staticConfigure()
mpl::list< Transition< EvCbSuccess< CbAbsoluteRotate, OrNavigation >, StiSPatternForward3 >, Transition< EvCbFailure< CbAbsoluteRotate, OrNavigation >, StiSPatternRotate3 > > reactions