Program Listing for File sti_radial_end_point.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_warehouse
{
namespace radial_motion_states
{
// STATE DECLARATION
struct StiRadialEndPoint : smacc2::SmaccState<StiRadialEndPoint, SS>
{
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvCbSuccess<CbNavigateForward, OrNavigation>, StiRadialReturn, SUCCESS>,
Transition<EvCbFailure<CbNavigateForward, OrNavigation>, StiRadialReturn, ABORT>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
//RCLCPP_INFO(getLogger(),"ssr radial end point, distance in meters: %lf", SS::ray_length_meters());
configure_orthogonal<OrNavigation, CbNavigateForward>(SS::ray_length_meters());
configure_orthogonal<OrNavigation, CbPauseSlam>();
configure_orthogonal<OrLED, CbLEDOn>();
}
void runtimeConfigure()
{
// float EXTRA_SECURE_DISTANCE = 0.5;
ClNav2Z* navzclient;
this->requiresClient(navzclient);
//auto lidarData = lidarClient->getComponent<CpForwardObstacleDetector>();
auto forwardDistanceComputation = navzclient->getComponent<CpSquareShapeBoundary>();
auto forwardBehavior =
this->getClientBehavior<OrNavigation,CbNavigateForward>();
//forwardBehavior->setForwardDistance(std::min(forwardDistanceComputation->getForwardDistance() + EXTRA_SECURE_DISTANCE, 6.0f)); // at most 15 meters
forwardBehavior->setForwardDistance(forwardDistanceComputation->getForwardDistance() ); // at most 15 meters
}
};
} // namespace radial_motion_states
} // namespace sm_dance_bot_warehouse