Program Listing for File st_navigate_to_waypoint_1.hpp
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// 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>
// #include <nav2z_client/client_behavior>
namespace sm_dance_bot_warehouse_3
{
using cl_nav2zclient::CbPureSpinning;
// STATE DECLARATION
struct StNavigateToWaypoint1 : smacc2::SmaccState<StNavigateToWaypoint1, MsDanceBotRunMode>
{
using SmaccState::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvCbSuccess<CbNavigateGlobalPosition, OrNavigation>, StNavigateToWaypointsX, SUCCESS>,
Transition<EvCbFailure<CbNavigateGlobalPosition, OrNavigation>, StNavigateToWaypointsX, ABORT>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
// x: 0.0 #-2.0
// y: 5.25 # 0.5
configure_orthogonal<OrNavigation, CbNavigateGlobalPosition>(2.0,0.0, 90.0);
configure_orthogonal<OrNavigation, CbResumeSlam>();
}
};
} // namespace sm_dance_bot_warehouse_3