Program Listing for File sti_radial_rotate.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_dance_bot
{
namespace radial_motion_states
{
// STATE DECLARATION
struct StiRadialRotate : smacc2::SmaccState<StiRadialRotate, SS>
{
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvCbSuccess<CbAbsoluteRotate, OrNavigation>, StiRadialEndPoint, SUCCESS>,
Transition<EvCbFailure<CbAbsoluteRotate, OrNavigation>, StiRadialRotate, ABORT>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
configure_orthogonal<OrNavigation, CbAbsoluteRotate>();
configure_orthogonal<OrNavigation, CbResumeSlam>();
configure_orthogonal<OrLED, CbLEDOff>();
}
void runtimeConfigure()
{
auto cbAbsRotate = this->getClientBehavior<OrNavigation,CbAbsoluteRotate>();
cbAbsRotate->spinningPlanner = SpinningPlanner::PureSpinning;
auto & superstate = this->context<SS>();
cbAbsRotate->absoluteGoalAngleDegree =
superstate.iteration_count * SS::ray_angle_increment_degree();
}
};
} // namespace radial_motion_states
} // namespace sm_dance_bot