Program Listing for File sti_fpattern_forward_2.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 StiFPatternForward2 : smacc2::SmaccState<StiFPatternForward2<SS>, SS>
{
typedef SmaccState<StiFPatternForward2<SS>, SS> TSti;
using TSti::context_type;
using TSti::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StiFPatternStartLoop<SS>>,
Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StiFPatternStartLoop<SS>>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
TSti::template configure_orthogonal<OrNavigation, CbNavigateForward>(SS::pitch_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