23namespace s_pattern_states
28 using SmaccState::SmaccState;
42 configure_orthogonal<OrLED, CbLEDOn>();
43 configure_orthogonal<OrNavigation, CbNavigateForward>();
44 configure_orthogonal<OrNavigation, CbResumeSlam>();
50 double extrasecurityMargin = 0.1;
52 auto forwardBehavior =
53 this->getOrthogonal<OrNavigation>()->getClientBehavior<CbNavigateForward>();
60 if (!std::isnan(fwdist))
61 forwardBehavior->setForwardDistance(
62 std::min(SS::pitch1_lenght_meters(), (
float)(fwdist -extrasecurityMargin)));
65 forwardBehavior->setForwardDistance( SS::pitch1_lenght_meters());
float getForwardDistance(int raysWidthCount=0)
void requiresClient(SmaccClientType *&storage)
mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StiSPatternRotate2 > > reactions
static void staticConfigure()