.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_test_moveit_ur5_sim_include_sm_test_moveit_ur5_sim_states_st_pouring_motion.hpp:

Program Listing for File st_pouring_motion.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_pouring_motion.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_test_moveit_ur5_sim/include/sm_test_moveit_ur5_sim/states/st_pouring_motion.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 "rclcpp/rclcpp.hpp"
   #include "smacc2/smacc.hpp"
   
   namespace sm_test_moveit_ur5_sim
   {
   // SMACC2 classes
   using smacc2::Transition;
   using smacc2::default_transition_tags::SUCCESS;
   using namespace smacc2;
   
   // STATE DECLARATION
   struct StPouringMotion : smacc2::SmaccState<StPouringMotion, SmTestMoveitUr5Sim>
   {
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef boost::mpl::list<
         Transition<EvCbSuccess<CbCircularPouringMotion, OrArm>, StMoveLastTrajectoryInitialState, SUCCESS>,
         Transition<EvCbFailure<CbCircularPouringMotion, OrArm>, StMoveLastTrajectoryInitialState, ABORT>
       >
       reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
      geometry_msgs::msg::Point relativePivotPoint;
      relativePivotPoint.x = -0.01;
      double deltaHeight = 0.05;
      std::string tipLink = "tool0";
      std::string globalFrame = "tool0";
   
       configure_orthogonal<OrArm, CbCircularPouringMotion>(relativePivotPoint, deltaHeight, tipLink, globalFrame);
     }
   
     void runtimeConfigure() { RCLCPP_INFO(getLogger(), "Entering StPouringMotion"); }
   
     void onEntry() { RCLCPP_INFO(getLogger(), "On Entry!"); }
   
     void onExit() { RCLCPP_INFO(getLogger(), "On Exit!"); }
   };
   }  // namespace sm_test_moveit_ur5_sim