.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_test_moveit_ur5_sim_include_sm_test_moveit_ur5_sim_states_st_acquire_sensors.hpp:

Program Listing for File st_acquire_sensors.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_test_moveit_ur5_sim_include_sm_test_moveit_ur5_sim_states_st_acquire_sensors.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_test_moveit_ur5_sim/include/sm_test_moveit_ur5_sim/states/st_acquire_sensors.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 MyName/MyCompany Inc.
   // Copyright 2021 RobosoftAI Inc. (template)
   //
   // 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 <sensor_msgs/msg/joint_state.h>
   
   namespace sm_test_moveit_ur5_sim
   {
   // SMACC2 classes
   using smacc2::EvStateRequestFinish;
   using smacc2::Transition;
   using smacc2::default_transition_tags::SUCCESS;
   using namespace smacc2;
   using namespace cl_move_group_interface;
   using smacc2::client_behaviors::CbWaitTopicMessage;
   
   // STATE DECLARATION
   struct StAcquireSensors : smacc2::SmaccState<StAcquireSensors, SmTestMoveitUr5Sim>
   {
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef boost::mpl::list<
       Transition<EvCbSuccess<CbWaitTopicMessage<sensor_msgs::msg::JointState>, OrArm>, StMoveJoints, SUCCESS>
   
       > reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       configure_orthogonal<OrArm, CbWaitTopicMessage<sensor_msgs::msg::JointState>>("/joint_states");
     };
   
     void runtimeConfigure() {}
   };
   }  // namespace sm_test_moveit_ur5_sim