.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_3_include_sm_dance_bot_warehouse_3_states_radial_motion_states_sti_radial_end_point.hpp:

Program Listing for File sti_radial_end_point.hpp
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_3_include_sm_dance_bot_warehouse_3_states_radial_motion_states_sti_radial_end_point.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot_warehouse_3/include/sm_dance_bot_warehouse_3/states/radial_motion_states/sti_radial_end_point.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_3
   {
   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>, StiRadialEndPointRecovery, 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_3