Program Listing for File sti_fpattern_forward_1.hpp

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// 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
 *
 ******************************************************************************************************************/

namespace sm_dancebot_artgallery_ue
{
namespace f_pattern_states
{
// STATE DECLARATION
template <typename SS>
struct StiFPatternForward1 : public smacc2::SmaccState<StiFPatternForward1<SS>, SS>
{
  typedef SmaccState<StiFPatternForward1<SS>, SS> TSti;
  using TSti::context_type;
  using TSti::SmaccState;

  // TRANSITION TABLE
  typedef mpl::list<

    Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StiFPatternReturn1<SS>>,
    Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StiFPatternReturn1<SS>, ABORT>


    >reactions;

  // STATE FUNCTIONS
  static void staticConfigure()
  {
    TSti::template configure_orthogonal<OrNavigation, CbNavigateForward>(SS::ray_lenght_meters());
    TSti::template configure_orthogonal<OrNavigation, CbPauseSlam>();
  }

  void runtimeConfigure()
  {
    cl_nav2z::odom_tracker::CpOdomTracker * odomTracker;
    this->requiresComponent(odomTracker);
    auto* cbForwardMotion = this->template getOrthogonal<OrNavigation>()->template getClientBehavior<CbNavigateForward>();
    auto previousGoal = odomTracker->getCurrentMotionGoal();

    if (previousGoal)
    {
      cbForwardMotion->options.forceInitialOrientation = previousGoal->pose.orientation;
      RCLCPP_ERROR_STREAM(this->getLogger(), "Previous goal orientation: " << previousGoal->pose.orientation.x << ", " << previousGoal->pose.orientation.y << ", " << previousGoal->pose.orientation.z << ", " << previousGoal->pose.orientation.w);
    };

    RCLCPP_ERROR_STREAM(this->getLogger(), "..");
  }
};
}  // namespace f_pattern_states
}  // namespace sm_dancebot_artgallery_ue