SMACC2
smacc2_sm_reference_library
sm_dance_bot_warehouse
include
sm_dance_bot_warehouse
superstates
ss_radial_pattern_3.hpp
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// Copyright 2021 RobosoftAI Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*****************************************************************************************************************
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*
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* Authors: Pablo Inigo Blasco, Brett Aldrich
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*
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******************************************************************************************************************/
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#include <
smacc2/smacc.hpp
>
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namespace
sm_dance_bot_warehouse
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{
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namespace
SS3
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{
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namespace
sm_dance_bot_warehouse
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{
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namespace
radial_motion_states
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{
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// FORWARD DECLARATION OF INNER STATES
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class
StiRadialRotate;
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class
StiRadialReturn;
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class
StiRadialEndPoint;
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class
StiRadialLoopStart;
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}
// namespace radial_motion_states
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}
// namespace sm_dance_bot_warehouse
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using namespace
sm_dance_bot_warehouse::radial_motion_states
;
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// STATE DECLARATION
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struct
SsRadialPattern3
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:
smacc2::SmaccState
<SsRadialPattern3, MsDanceBotRunMode, StiRadialLoopStart>
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{
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public
:
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using
SmaccState::SmaccState;
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// TRANSITION TABLE
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typedef
mpl::list<
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Transition<EvLoopEnd<StiRadialLoopStart>,
StNavigateToWaypointsX
,
ENDLOOP
>
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>
reactions
;
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// STATE FUNCTIONS
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static
void
staticConfigure
()
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{
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//configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
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}
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int
iteration_count
;
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static
constexpr
int
total_iterations
() {
return
25; }
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static
constexpr
float
ray_angle_increment_degree
() {
return
360.0 /
total_iterations
(); }
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static
constexpr
float
ray_length_meters
() {
return
4; }
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void
runtimeConfigure
() {
iteration_count
= 0; }
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};
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// FORWARD DECLARATION FOR THE SUPERSTATE
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using
SS
=
SsRadialPattern3
;
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#include <
sm_dance_bot_warehouse/states/radial_motion_states/sti_radial_end_point.hpp
>
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#include <
sm_dance_bot_warehouse/states/radial_motion_states/sti_radial_loop_start.hpp
>
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#include <
sm_dance_bot_warehouse/states/radial_motion_states/sti_radial_return.hpp
>
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#include <
sm_dance_bot_warehouse/states/radial_motion_states/sti_radial_rotate.hpp
>
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}
// namespace SS3
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}
// namespace sm_dance_bot_warehouse
smacc2::SmaccState
Definition:
smacc_state_base.hpp:41
sm_dance_bot_warehouse::radial_motion_states
Definition:
sti_radial_end_point.hpp:24
sm_dance_bot_warehouse
Definition:
cl_led.hpp:27
smacc.hpp
sm_dance_bot_warehouse::SS3::SsRadialPattern3
Definition:
ss_radial_pattern_3.hpp:43
sm_dance_bot_warehouse::SS3::SsRadialPattern3::reactions
mpl::list< Transition< EvLoopEnd< StiRadialLoopStart >, StNavigateToWaypointsX, ENDLOOP > > reactions
Definition:
ss_radial_pattern_3.hpp:52
sm_dance_bot_warehouse::SS3::SsRadialPattern3::iteration_count
int iteration_count
Definition:
ss_radial_pattern_3.hpp:60
sm_dance_bot_warehouse::SS3::SsRadialPattern3::ray_length_meters
static constexpr float ray_length_meters()
Definition:
ss_radial_pattern_3.hpp:64
sm_dance_bot_warehouse::SS3::SsRadialPattern3::ray_angle_increment_degree
static constexpr float ray_angle_increment_degree()
Definition:
ss_radial_pattern_3.hpp:63
sm_dance_bot_warehouse::SS3::SsRadialPattern3::staticConfigure
static void staticConfigure()
Definition:
ss_radial_pattern_3.hpp:55
sm_dance_bot_warehouse::SS3::SsRadialPattern3::runtimeConfigure
void runtimeConfigure()
Definition:
ss_radial_pattern_3.hpp:66
sm_dance_bot_warehouse::SS3::SsRadialPattern3::total_iterations
static constexpr int total_iterations()
Definition:
ss_radial_pattern_3.hpp:62
sm_dance_bot_warehouse::StNavigateToWaypointsX
Definition:
st_navigate_to_waypoints_x.hpp:29
smacc2::default_transition_tags::ENDLOOP
Definition:
smacc_types.hpp:93
sti_radial_end_point.hpp
sti_radial_loop_start.hpp
sti_radial_return.hpp
sti_radial_rotate.hpp
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