.. _program_listing_file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_multi_stage_1_include_sm_multi_stage_1_sm_multi_stage_1.hpp:

Program Listing for File sm_multi_stage_1.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_sm_reference_library_sm_multi_stage_1_include_sm_multi_stage_1_sm_multi_stage_1.hpp>` (``/tmp/ws/src/smacc2/smacc2_sm_reference_library/sm_multi_stage_1/include/sm_multi_stage_1/sm_multi_stage_1.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.
   
   #pragma once
   
   #include <rclcpp/rclcpp.hpp>
   #include <smacc2/smacc.hpp>
   
   // CLIENTS
   #include <keyboard_client/cl_keyboard.hpp>
   #include <ros_timer_client/cl_ros_timer.hpp>
   
   // ORTHOGONALS
   #include <sm_multi_stage_1/orthogonals/or_keyboard.hpp>
   #include <sm_multi_stage_1/orthogonals/or_subscriber.hpp>
   #include <sm_multi_stage_1/orthogonals/or_timer.hpp>
   #include <sm_multi_stage_1/orthogonals/or_updatable_publisher.hpp>
   
   using namespace cl_ros_timer;
   using namespace cl_ros_publisher;
   using namespace cl_keyboard;
   using namespace sm_multi_stage_1::cl_subscriber;
   
   //CLIENT BEHAVIORS
   #include <ros_publisher_client/client_behaviors/cb_default_publish_loop.hpp>
   #include <ros_publisher_client/client_behaviors/cb_muted_behavior.hpp>
   #include <ros_publisher_client/client_behaviors/cb_publish_once.hpp>
   
   #include <sm_multi_stage_1/clients/cl_subscriber/client_behaviors/cb_default_subscriber_behavior.hpp>
   #include <sm_multi_stage_1/clients/cl_subscriber/client_behaviors/cb_watchdog_subscriber_behavior.hpp>
   
   #include <keyboard_client/client_behaviors/cb_default_keyboard_behavior.hpp>
   
   //#include <ros_timer_client/client_behaviors/cb_ros_timer.hpp>
   #include <ros_timer_client/client_behaviors/cb_timer_countdown_once.hpp>
   
   //STATE REACTORS
   #include <sr_all_events_go/sr_all_events_go.hpp>
   
   using namespace smacc2;
   using namespace smacc2::state_reactors;
   using namespace smacc2::default_events;
   
   namespace sm_multi_stage_1
   {
   //SUPERSTATES
   class SsMode1SequenceA;
   namespace mode_1_sequence_a
   {
   class StiMode1SequenceALoop;
   class StiMode1SequenceAStep1;
   class StiMode1SequenceAStep2;
   class StiMode1SequenceAStep3;
   class StiMode1SequenceAStep4;
   class StiMode1SequenceAStep5;
   class StiMode1SequenceAStep6;
   class StiMode1SequenceAStep7;
   class StiMode1SequenceAStep8;
   class StiMode1SequenceAStep9;
   }  // namespace mode_1_sequence_a
   
   class SsMode2SequenceA;
   namespace mode_2_sequence_a
   {
   class StiMode2SequenceALoop;
   class StiMode2SequenceAStep1;
   class StiMode2SequenceAStep2;
   class StiMode2SequenceAStep3;
   class StiMode2SequenceAStep4;
   class StiMode2SequenceAStep5;
   class StiMode2SequenceAStep6;
   class StiMode2SequenceAStep7;
   class StiMode2SequenceAStep8;
   class StiMode2SequenceAStep9;
   }  // namespace mode_2_sequence_a
   
   class SsMode3SequenceA;
   namespace mode_3_sequence_a
   {
   class StiMode3SequenceALoop;
   class StiMode3SequenceAStep1;
   class StiMode3SequenceAStep2;
   class StiMode3SequenceAStep3;
   class StiMode3SequenceAStep4;
   class StiMode3SequenceAStep5;
   class StiMode3SequenceAStep6;
   class StiMode3SequenceAStep7;
   class StiMode3SequenceAStep8;
   class StiMode3SequenceAStep9;
   }  // namespace mode_3_sequence_a
   
   class SsMode4SequenceA;
   namespace mode_4_sequence_a
   {
   class StiMode4SequenceALoop;
   class StiMode4SequenceAStep1;
   class StiMode4SequenceAStep2;
   class StiMode4SequenceAStep3;
   class StiMode4SequenceAStep4;
   class StiMode4SequenceAStep5;
   class StiMode4SequenceAStep6;
   class StiMode4SequenceAStep7;
   class StiMode4SequenceAStep8;
   class StiMode4SequenceAStep9;
   }  // namespace mode_4_sequence_a
   
   class SsMode4SequenceC;
   namespace mode_4_sequence_c
   {
   class StiMode4SequenceCLoop;
   class StiMode4SequenceCStep1;
   class StiMode4SequenceCStep2;
   class StiMode4SequenceCStep3;
   class StiMode4SequenceCStep4;
   class StiMode4SequenceCStep5;
   class StiMode4SequenceCStep6;
   class StiMode4SequenceCStep7;
   class StiMode4SequenceCStep8;
   class StiMode4SequenceCStep9;
   }  // namespace mode_4_sequence_c
   
   class SsMode4SequenceD;
   namespace mode_4_sequence_d
   {
   class StiMode4SequenceDLoop;
   class StiMode4SequenceDStep1;
   class StiMode4SequenceDStep2;
   class StiMode4SequenceDStep3;
   class StiMode4SequenceDStep4;
   class StiMode4SequenceDStep5;
   class StiMode4SequenceDStep6;
   class StiMode4SequenceDStep7;
   class StiMode4SequenceDStep8;
   class StiMode4SequenceDStep9;
   }  // namespace mode_4_sequence_d
   
   class SsMode5SequenceA;
   namespace mode_5_sequence_a
   {
   class StiMode5SequenceALoop;
   class StiMode5SequenceAStep1;
   class StiMode5SequenceAStep2;
   class StiMode5SequenceAStep3;
   class StiMode5SequenceAStep4;
   class StiMode5SequenceAStep5;
   class StiMode5SequenceAStep6;
   class StiMode5SequenceAStep7;
   class StiMode5SequenceAStep8;
   class StiMode5SequenceAStep9;
   }  // namespace mode_5_sequence_a
   
   
   class SsMode1SequenceB;
   namespace mode_1_sequence_b
   {
   //FORWARD DECLARATIONS OF ALL INNER STATES
   class StiMode1SequenceBLoop;
   class StiMode1SequenceBStep1;
   class StiMode1SequenceBStep2;
   class StiMode1SequenceBStep3;
   class StiMode1SequenceBStep4;
   class StiMode1SequenceBStep5;
   class StiMode1SequenceBStep6;
   class StiMode1SequenceBStep7;
   class StiMode1SequenceBStep8;
   class StiMode1SequenceBStep9;
   }  // namespace mode_1_sequence_b
   
   class SsMode2SequenceB;
   
   namespace mode_2_sequence_b
   {
   //FORWARD DECLARATIONS OF ALL INNER STATES
   class StiMode2SequenceBLoop;
   class StiMode2SequenceBStep1;
   class StiMode2SequenceBStep2;
   class StiMode2SequenceBStep3;
   class StiMode2SequenceBStep4;
   class StiMode2SequenceBStep5;
   class StiMode2SequenceBStep6;
   class StiMode2SequenceBStep7;
   class StiMode2SequenceBStep8;
   class StiMode2SequenceBStep9;
   }  // namespace mode_2_sequence_b
   
   class SsMode3SequenceB;
   
   namespace mode_3_sequence_b
   {
   //FORWARD DECLARATIONS OF ALL INNER STATES
   class StiMode3SequenceBLoop;
   class StiMode3SequenceBStep1;
   class StiMode3SequenceBStep2;
   class StiMode3SequenceBStep3;
   class StiMode3SequenceBStep4;
   class StiMode3SequenceBStep5;
   class StiMode3SequenceBStep6;
   class StiMode3SequenceBStep7;
   class StiMode3SequenceBStep8;
   class StiMode3SequenceBStep9;
   }  // namespace mode_3_sequence_b
   
   class SsMode4SequenceB;
   
   namespace mode_4_sequence_b
   {
   //FORWARD DECLARATIONS OF ALL INNER STATES
   class StiMode4SequenceB;
   class StiMode4SequenceBStep1;
   class StiMode4SequenceBStep2;
   class StiMode4SequenceBStep3;
   class StiMode4SequenceBStep4;
   class StiMode4SequenceBStep5;
   class StiMode4SequenceBStep6;
   class StiMode4SequenceBStep7;
   class StiMode4SequenceBStep8;
   class StiMode4SequenceBStep9;
   }  // namespace mode_4_sequence_b
   
   class SsMode5SequenceB;
   
   namespace mode_5_sequence_b
   {
   //FORWARD DECLARATIONS OF ALL INNER STATES
   class StiMode5SequenceBLoop;
   class StiMode5SequenceBStep1;
   class StiMode5SequenceBStep2;
   class StiMode5SequenceBStep3;
   class StiMode5SequenceBStep4;
   class StiMode5SequenceBStep5;
   class StiMode5SequenceBStep6;
   class StiMode5SequenceBStep7;
   class StiMode5SequenceBStep8;
   class StiMode5SequenceBStep9;
   }  // namespace mode_5_sequence_b
   
   //STATES
   class Mode1StObserve;
   class StRecoveryAnalyze1;
   class StRecoveryBifurcate1;
   class StRecoveryCalculate1;
   class StRecoveryDeliberate1;
   class StRecoveryEvaluate1;
   class StRecoveryGenerate1;
   class StRecoveryInnervate1;
   
   class Mode2StObserve;
   class StRecoveryAnalyze2;
   class StRecoveryBifurcate2;
   class StRecoveryCalculate2;
   class StRecoveryDeliberate2;
   class StRecoveryEvaluate2;
   class StRecoveryGenerate2;
   class StRecoveryInnervate2;
   
   class Mode3StObserve;
   class Mode4StObserve;
   class Mode5StObserve;
   
   
   class Mode1SequenceALoop;
   class Mode1SequenceBLoop;
   class Mode2SequenceALoop;
   class Mode2SequenceBLoop;
   class Mode3SequenceALoop;
   class Mode3SequenceBLoop;
   class Mode4SequenceALoop;
   class Mode4SequenceCLoop;
   class Mode4SequenceDLoop;
   class Mode4SequenceBLoop;
   class Mode5SequenceALoop;
   class Mode5SequenceBLoop;
   
   
   //MODE STATES
   class MsMode1;
   class MsRecovery1;
   
   //MODE STATES
   class MsMode2;
   class MsRecovery2;
   
   class MsMode3;
   class MsMode4;
   class MsMode5;
   
   struct EvToDeep : sc::event<EvToDeep>
   {
   };
   struct EvFail : sc::event<EvFail>
   {
   };
   
   // STATE MACHINE
   struct SmMultiStage1 : public smacc2::SmaccStateMachineBase<SmMultiStage1, MsMode1>
   {
     using SmaccStateMachineBase::SmaccStateMachineBase;
   
     virtual void onInitialize() override
     {
       this->createOrthogonal<OrTimer>();
       this->createOrthogonal<OrUpdatablePublisher>();
       this->createOrthogonal<OrKeyboard>();
       this->createOrthogonal<OrSubscriber>();
     }
   };
   }  // namespace sm_multi_stage_1
   
   // MODE STATES
   #include <sm_multi_stage_1/mode_states/ms_recovery_1.hpp>
   #include <sm_multi_stage_1/mode_states/ms_recovery_2.hpp>
   #include <sm_multi_stage_1/mode_states/ms_mode_1.hpp>
   #include <sm_multi_stage_1/mode_states/ms_mode_2.hpp>
   #include <sm_multi_stage_1/mode_states/ms_mode_3.hpp>
   #include <sm_multi_stage_1/mode_states/ms_mode_4.hpp>
   #include <sm_multi_stage_1/mode_states/ms_mode_5.hpp>
   
   //STATES
   #include <sm_multi_stage_1/states/ms_recovery_1/st_recovery_analyze_1.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_1/st_recovery_bifurcate_1.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_1/st_recovery_calculate_1.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_1/st_recovery_deliberate_1.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_1/st_recovery_evaluate_1.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_1/st_recovery_generate_1.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_1/st_recovery_innervate_1.hpp>
   
   #include <sm_multi_stage_1/states/ms_recovery_2/st_recovery_analyze_2.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_2/st_recovery_bifurcate_2.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_2/st_recovery_calculate_2.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_2/st_recovery_deliberate_2.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_2/st_recovery_evaluate_2.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_2/st_recovery_generate_2.hpp>
   #include <sm_multi_stage_1/states/ms_recovery_2/st_recovery_innervate_2.hpp>
   
   #include <sm_multi_stage_1/states/mode_1_sequence_a_loop.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_a_loop.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_a_loop.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_a_loop.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_a_loop.hpp>
   
   #include <sm_multi_stage_1/states/mode_4_sequence_c_loop.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_d_loop.hpp>
   
   #include <sm_multi_stage_1/states/mode_1_sequence_b_loop.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_b_loop.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_b_loop.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_b_loop.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_b_loop.hpp>
   
   #include <sm_multi_stage_1/states/mode_1_st_observe.hpp>
   #include <sm_multi_stage_1/states/mode_2_st_observe.hpp>
   #include <sm_multi_stage_1/states/mode_3_st_observe.hpp>
   #include <sm_multi_stage_1/states/mode_4_st_observe.hpp>
   #include <sm_multi_stage_1/states/mode_5_st_observe.hpp>
   
   #include <sm_multi_stage_1/superstates/ss_mode_1_sequence_a.hpp>
   #include <sm_multi_stage_1/superstates/ss_mode_2_sequence_a.hpp>
   #include <sm_multi_stage_1/superstates/ss_mode_3_sequence_a.hpp>
   #include <sm_multi_stage_1/superstates/ss_mode_4_sequence_a.hpp>
   #include <sm_multi_stage_1/superstates/ss_mode_5_sequence_a.hpp>
   
   #include <sm_multi_stage_1/superstates/ss_mode_4_sequence_c.hpp>
   #include <sm_multi_stage_1/superstates/ss_mode_4_sequence_d.hpp>
   
   #include <sm_multi_stage_1/superstates/ss_mode_1_sequence_b.hpp>
   #include <sm_multi_stage_1/superstates/ss_mode_2_sequence_b.hpp>
   #include <sm_multi_stage_1/superstates/ss_mode_3_sequence_b.hpp>
   #include <sm_multi_stage_1/superstates/ss_mode_4_sequence_b.hpp>
   #include <sm_multi_stage_1/superstates/ss_mode_5_sequence_b.hpp>
   
   //ss_mode_1_sequence_a
   #include <sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_loop.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_9.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_a/sti_mode_1_sequence_a_step_6.hpp>
   
   //ss_mode_2_sequence_a
   #include <sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_loop.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_9.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_a/sti_mode_2_sequence_a_step_6.hpp>
   
   //ss_mode_3_sequence_a
   #include <sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_loop.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_9.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_a/sti_mode_3_sequence_a_step_6.hpp>
   
   //ss_mode_4_sequence_a
   #include <sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_loop.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_9.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_a/sti_mode_4_sequence_a_step_6.hpp>
   
   //ss_mode_4_sequence_c
   #include <sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_loop.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_6.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_c/sti_mode_4_sequence_c_step_9.hpp>
   
   //ss_mode_4_sequence_d
   #include <sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_loop.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_9.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_d/sti_mode_4_sequence_d_step_6.hpp>
   
   //ss_mode_5_sequence_a
   #include <sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_loop.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_9.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_a/sti_mode_5_sequence_a_step_6.hpp>
   
   //ss_mode_1_sequence_b
   #include <sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_loop.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_9.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_1_sequence_b/sti_mode_1_sequence_b_step_6.hpp>
   
   //ss_mode_2_sequence_b
   #include <sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_loop.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_9.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_2_sequence_b/sti_mode_2_sequence_b_step_6.hpp>
   
   //ss_mode_3_sequence_b
   #include <sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_loop.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_9.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_3_sequence_b/sti_mode_3_sequence_b_step_6.hpp>
   
   //ss_mode_4_sequence_b
   #include <sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_loop.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_9.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_4_sequence_b/sti_mode_4_sequence_b_step_6.hpp>
   
   //ss_mode_5_seqence_b
   #include <sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_4.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_3.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_1.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_loop.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_2.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_5.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_9.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_8.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_7.hpp>
   #include <sm_multi_stage_1/states/mode_5_sequence_b/sti_mode_5_sequence_b_step_6.hpp>