00001
00002
00003 class sm_human_sensing(smach.StateMachine):
00004 def __init__(self):
00005 smach.StateMachine.__init__(self,
00006 outcomes=['succeeded', 'failed', 'preempted'],
00007 input_keys=[],
00008 output_keys=['pose_leg','pose_face'])
00009
00010
00011
00012 with self:
00013
00014 smach.StateMachine.add('Leg Detection', leg_detection(),
00015 transitions={'succeeded':'Move to better position', 'failed':'failed', 'preempted':'preempted'})
00016
00017 smach.StateMachine.add('Move to better position', move_to_better_position(),
00018 transitions={'succeeded':'Face detection','failed':'failed', 'preempted':'preempted'})
00019
00020 smach.StateMachine.add('Face detection', face_detection(),
00021 transitions={'succeeded':'succeeded','retry':'Move to better position', 'failed':'failed','preempted':'preempted'})
00022
