23namespace s_pattern_states
28 using SmaccState::SmaccState;
41 configure_orthogonal<OrNavigation, CbNavigateForward>();
42 configure_orthogonal<OrNavigation, CbPauseSlam>();
43 configure_orthogonal<OrLED, CbLEDOn>();
48 auto & superstate = this->context<SS>();
50 double extrasecurityMargin = 0.1;
52 auto forwardBehavior =
53 this->getOrthogonal<OrNavigation>()->getClientBehavior<CbNavigateForward>();
60 if (!std::isnan(fwdist))
61 forwardBehavior->setForwardDistance(
66 forwardBehavior->setForwardDistance( superstate.pitch2_lenght_meters());
float getForwardDistance(int raysWidthCount=0)
void requiresClient(SmaccClientType *&storage)
mpl::list< Transition< EvCbSuccess< CbNavigateForward, OrNavigation >, StiSPatternRotate3 >, Transition< EvCbFailure< CbNavigateForward, OrNavigation >, StiSPatternRotate3 > > reactions
static void staticConfigure()