.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_include_sm_dance_bot_warehouse_superstates_ss_radial_pattern_1.hpp:

Program Listing for File ss_radial_pattern_1.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_superstates_ss_radial_pattern_1.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot_warehouse/include/sm_dance_bot_warehouse/superstates/ss_radial_pattern_1.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
    *
    ******************************************************************************************************************/
   
   #include <smacc2/smacc.hpp>
   
   namespace sm_dance_bot_warehouse
   {
   namespace SS1
   {
   namespace sm_dance_bot_warehouse
   {
   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_warehouse
   using namespace sm_dance_bot_warehouse::radial_motion_states;
   
   // STATE DECLARATION
   struct SsRadialPattern1
   : smacc2::SmaccState<SsRadialPattern1, MsDanceBotRunMode, StiRadialLoopStart>
   {
   public:
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       // Transition<EvLoopEnd<StiRadialLoopStart>, StRotateDegrees1, ENDLOOP>
       Transition<EvLoopEnd<StiRadialLoopStart>, StNavigateToWaypointsX, ENDLOOP>
   
       >reactions;
   
     static constexpr int total_iterations() { return 35; }
     static constexpr float ray_angle_increment_degree() { return 360.0 / total_iterations(); }
     static constexpr float ray_length_meters() { return 4; }
   
     int iteration_count = 0;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       //configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
     }
   
     void runtimeConfigure() {}
   };
   
   // FORWARD DECLARATION FOR THE SUPERSTATE
   using SS = SsRadialPattern1;
   #include <sm_dance_bot_warehouse/states/radial_motion_states/sti_radial_end_point.hpp>
   #include <sm_dance_bot_warehouse/states/radial_motion_states/sti_radial_loop_start.hpp>
   #include <sm_dance_bot_warehouse/states/radial_motion_states/sti_radial_return.hpp>
   #include <sm_dance_bot_warehouse/states/radial_motion_states/sti_radial_rotate.hpp>
   }  // namespace SS1
   }  // namespace sm_dance_bot_warehouse