.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_3_include_sm_dance_bot_warehouse_3_states_st_navigate_to_waypoint_1_recovery.hpp:

Program Listing for File st_navigate_to_waypoint_1_recovery.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_st_navigate_to_waypoint_1_recovery.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot_warehouse_3/include/sm_dance_bot_warehouse_3/states/st_navigate_to_waypoint_1_recovery.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
    *
    ******************************************************************************************************************/
   
   #pragma once
   
   #include <smacc2/smacc.hpp>
   
   namespace sm_dance_bot_warehouse_3
   {
   using cl_nav2zclient::CbPureSpinning;
   
   // STATE DECLARATION
   struct StNavigateToWaypoint1Recovery : smacc2::SmaccState<StNavigateToWaypoint1Recovery, MsDanceBotRunMode>
   {
     using SmaccState::SmaccState;
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       Transition<EvCbSuccess<CbRetry<CbNavigateForward>, OrNavigation>, StNavigateToWaypointsX, SUCCESS>
   
       >reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       //configure_orthogonal<OrNavigation, CbPureSpinning>(2.0*M_PI, 1.0 /*rad_s*/);
       // configure_orthogonal<OrNavigation, CbNavigateForward>(2.0);
       configure_orthogonal<OrNavigation, CbRetry<CbNavigateForward>>();
       configure_orthogonal<OrNavigation, CbResumeSlam>();
     }
   
     void onExit()
     {
   
     }
   };
   }  // namespace sm_dance_bot_warehouse_3