.. _program_listing_file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_states_st_navigate_to_waypoints_x.hpp:

Program Listing for File st_navigate_to_waypoints_x.hpp
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_states_st_navigate_to_waypoints_x.hpp>` (``/tmp/ws/src/smacc2/smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/states/st_navigate_to_waypoints_x.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   
   #pragma once
   
   #include <smacc2/smacc.hpp>
   
   namespace sm_dance_bot_warehouse
   {
   // STATE DECLARATION
   struct StNavigateToWaypointsX : smacc2::SmaccState<StNavigateToWaypointsX, MsDanceBotRunMode>
   {
     using SmaccState::SmaccState;
   
     // CUSTOM TRANSITION TAGS
     struct TRANSITION_1 : SUCCESS{};
     struct TRANSITION_2 : SUCCESS{};
     struct TRANSITION_3 : SUCCESS{};
     struct TRANSITION_4 : SUCCESS{};
     struct TRANSITION_5 : SUCCESS{};
     struct TRANSITION_6 : SUCCESS{};
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       Transition<EvWaypoint0<ClNav2Z, OrNavigation>, SS4::SsFPattern1, TRANSITION_1>,
       Transition<EvWaypoint1<ClNav2Z, OrNavigation>, SS1::SsRadialPattern1, TRANSITION_2>,
       Transition<EvWaypoint2<ClNav2Z, OrNavigation>, SS2::SsRadialPattern2, TRANSITION_3>,
       Transition<EvWaypoint3<ClNav2Z, OrNavigation>, SS5::SsSPattern1, TRANSITION_5>,
       Transition<EvWaypoint4<ClNav2Z, OrNavigation>, SS6::SsSPattern2, TRANSITION_6>,
       Transition<EvCbFailure<CbNavigateNextWaypoint, OrNavigation>, StNavigateToWaypointsX, ABORT>
   
       >reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       configure_orthogonal<OrLED, CbLEDOn>();
       configure_orthogonal<OrNavigation, CbNavigateNextWaypoint>();
       configure_orthogonal<OrNavigation, CbResumeSlam>();
       configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
     }
   
     void runtimeConfigure() {}
   
     void onExit(ABORT)
     {
     }
   };
   }  // namespace sm_dance_bot_warehouse