Program Listing for File ss_radial_pattern_3.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
*
******************************************************************************************************************/
#include <smacc2/smacc.hpp>
namespace sm_dance_bot
{
namespace SS3
{
namespace sm_dance_bot
{
namespace radial_motion_states
{
// FORWARD DECLARATION OF INNER STATES
class StiRadialRotate;
class StiRadialReturn;
class StiRadialEndPoint;
class StiRadialLoopStart;
} // namespace radial_motion_states
} // namespace sm_dance_bot
using namespace sm_dance_bot::radial_motion_states;
// STATE DECLARATION
struct SsRadialPattern3
: smacc2::SmaccState<SsRadialPattern3, MsDanceBotRunMode, StiRadialLoopStart>
{
public:
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvLoopEnd<StiRadialLoopStart>, StRotateDegrees4, ENDLOOP>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
//configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
}
int iteration_count;
static constexpr int total_iterations() { return 16; }
static constexpr float ray_angle_increment_degree() { return 360.0 / total_iterations(); }
static constexpr float ray_length_meters() { return 4; }
void runtimeConfigure() { iteration_count = 0; }
};
// FORWARD DECLARATION FOR THE SUPERSTATE
using SS = SsRadialPattern3;
#include <sm_dance_bot/states/radial_motion_states/sti_radial_end_point.hpp>
#include <sm_dance_bot/states/radial_motion_states/sti_radial_loop_start.hpp>
#include <sm_dance_bot/states/radial_motion_states/sti_radial_return.hpp>
#include <sm_dance_bot/states/radial_motion_states/sti_radial_rotate.hpp>
} // namespace SS3
} // namespace sm_dance_bot