23namespace s_pattern_states
28 using SmaccState::SmaccState;
43 auto & superstate = this->context<SS>();
45 getLogger(),
"[SsrSPatternRotate] SpatternRotate rotate: SS current iteration: %d/%d",
46 superstate.iteration_count, SS::total_iterations());
50 if (superstate.direction() == TDirection::LEFT)
55 this->configure<OrNavigation, CbAbsoluteRotate>(angle);
56 this->configure<OrNavigation, CbResumeSlam>();
57 this->configure<OrLED, CbLEDOff>();
rclcpp::Logger getLogger()
mpl::list< Transition< EvCbSuccess< CbAbsoluteRotate, OrNavigation >, StiSPatternForward4 >, Transition< EvCbFailure< CbAbsoluteRotate, OrNavigation >, StiSPatternRotate4 > > reactions
static void staticConfigure()