Function rcl_action_transition_goal_state

• Defined in File goal_state_machine.h

Function Documentation

rcl_action_goal_state_t rcl_action_transition_goal_state(const rcl_action_goal_state_t state, const rcl_action_goal_event_t event)

Transition a goal from one state to the next.

Given a goal state and a goal event, return the next state.

Parameters:

• state – [in] the state to transition from

• event – [in] the event triggering a transition

Returns:

the next goal state if the transition is valid, or

Returns:

GOAL_STATE_UNKNOWN if the transition is invalid or an error occured