.. _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_waypoints_x.hpp:

Program Listing for File st_navigate_to_waypoints_x.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_waypoints_x.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot_warehouse_3/include/sm_dance_bot_warehouse_3/states/st_navigate_to_waypoints_x.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
   {
   // STATE DECLARATION
   struct StNavigateToWaypointsX : smacc2::SmaccState<StNavigateToWaypointsX, MsDanceBotRunMode>
   {
     using SmaccState::SmaccState;
   
     // CUSTOM TRANSITION TAGS
     struct TRANSITION_1 : SUCCESS
     {
     };
     struct TRANSITION_2 : SUCCESS
     {
     };
     struct TRANSITION_3 : SUCCESS
     {
     };
     struct TRANSITION_4 : SUCCESS
     {
     };
     struct TRANSITION_5 : SUCCESS
     {
     };
     struct TRANSITION_6 : SUCCESS
     {
     };
     struct TRANSITION_7 : SUCCESS
     {
     };
     struct TRANSITION_8 : SUCCESS
     {
     };
     struct TRANSITION_9 : SUCCESS
     {
     };
     struct TRANSITION_10 : SUCCESS
     {
     };
     struct TRANSITION_11 : SUCCESS
     {
     };
     struct TRANSITION_12 : SUCCESS
     {
     };
     struct TRANSITION_13 : SUCCESS
     {
     };
     struct TRANSITION_14 : SUCCESS
     {
     };
     struct TRANSITION_15 : SUCCESS
     {
     };
     struct TRANSITION_16 : SUCCESS
     {
     };
     struct TRANSITION_17 : SUCCESS
     {
     };
     struct TRANSITION_18 : SUCCESS
     {
     };
     struct TRANSITION_19 : SUCCESS
     {
     };
     struct TRANSITION_20 : SUCCESS
     {
     };
     struct TRANSITION_21 : SUCCESS
     {
     };
     struct TRANSITION_22 : SUCCESS
     {
     };
     struct TRANSITION_23 : SUCCESS
     {
     };
     struct TRANSITION_24 : SUCCESS
     {
     };
     struct TRANSITION_25 : SUCCESS
     {
     };
     struct TRANSITION_26 : SUCCESS
     {
     };
     struct TRANSITION_27 : SUCCESS
     {
     };
     struct TRANSITION_28 : SUCCESS
     {
     };
     struct TRANSITION_29 : SUCCESS
     {
     };
     struct TRANSITION_30 : SUCCESS
     {
     };
   
     // TRANSITION TABLE
     typedef mpl::list<
   
       Transition<EvWaypoint0<ClNav2Z, OrNavigation>, StRotateDegrees1, TRANSITION_1>,
       Transition<EvWaypoint1<ClNav2Z, OrNavigation>, StRotateDegrees2, TRANSITION_2>,
       Transition<EvWaypoint2<ClNav2Z, OrNavigation>, StNavigateToWaypointsX, TRANSITION_3>,
       Transition<EvWaypoint3<ClNav2Z, OrNavigation>, StNavigateToWaypointsX, TRANSITION_3>,
       Transition<EvWaypoint4<ClNav2Z, OrNavigation>, StRotateDegrees1, TRANSITION_3>,
       Transition<EvWaypoint5<ClNav2Z, OrNavigation>, StNavigateToWaypointsX, TRANSITION_3>,
       Transition<EvWaypoint6<ClNav2Z, OrNavigation>, StRotateDegrees2, TRANSITION_4>,
       Transition<EvWaypoint7<ClNav2Z, OrNavigation>, StNavigateToWaypointsX, TRANSITION_5>,
   
       Transition<EvWaypoint8<ClNav2Z, OrNavigation>, StRotateDegrees1, TRANSITION_5>,
       Transition<EvWaypoint9<ClNav2Z, OrNavigation>, StNavigateToWaypointsX, TRANSITION_5>,
       Transition<EvWaypoint10<ClNav2Z, OrNavigation>, StRotateDegrees1, TRANSITION_6>,
       Transition<EvWaypoint11<ClNav2Z, OrNavigation>, StRotateDegrees2, TRANSITION_7>,
       Transition<EvWaypoint12<ClNav2Z, OrNavigation>, StRotateDegrees1, TRANSITION_8>,
       Transition<EvWaypoint13<ClNav2Z, OrNavigation>, StNavigateToWaypointsX, TRANSITION_8>,
       Transition<EvWaypoint14<ClNav2Z, OrNavigation>, StRotateDegrees2, TRANSITION_9>,
       Transition<EvWaypoint15<ClNav2Z, OrNavigation>, StNavigateToWaypointsX2, TRANSITION_10>,
   
       Transition<EvCbFailure<CbNavigateNextWaypoint, OrNavigation>, StNavigateToWaypointsX>
       >
       reactions;
   
     // STATE FUNCTIONS
     static void staticConfigure()
     {
       configure_orthogonal<OrLED, CbLEDOn>();
       configure_orthogonal<OrNavigation, CbNavigateNextWaypoint>();
       configure_orthogonal<OrNavigation, CbResumeSlam>();
     }
   
     void runtimeConfigure() {}
   
     void onExit(ABORT)
     {
     }
   };
   }  // namespace sm_dance_bot_warehouse_3