.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_states_radial_motion_states_sti_radial_rotate.hpp:

Program Listing for File sti_radial_rotate.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_states_radial_motion_states_sti_radial_rotate.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/states/radial_motion_states/sti_radial_rotate.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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 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_warehouse