Program Listing for File sti_radial_end_point.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 radial_motion_states
{
// STATE DECLARATION
struct StiRadialEndPoint : smacc2::SmaccState<StiRadialEndPoint, SS>
{
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StiRadialReturn, SUCCESS>,
Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StiRadialReturn, ABORT>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
//RCLCPP_INFO(getLogger(),"ssr radial end point, distance in meters: %lf", SS::ray_length_meters());
configure_orthogonal<OrNavigation, CbNavigateForward>(SS::ray_length_meters());
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 radial_motion_states
} // namespace sm_dancebot_artgallery_ue