.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_aws_warehouse_navigation_include_sm_aws_warehouse_navigation_sm_aws_warehouse_navigation.hpp:

Program Listing for File sm_aws_warehouse_navigation.hpp
========================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_aws_warehouse_navigation_include_sm_aws_warehouse_navigation_sm_aws_warehouse_navigation.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_aws_warehouse_navigation/include/sm_aws_warehouse_navigation/sm_aws_warehouse_navigation.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.
   
   #include <smacc2/smacc.hpp>
   
   // CLIENTS
   #include <nav2z_client/nav2z_client.hpp>
   
   // CLIENT BEHAVIORS
   #include <nav2z_client/client_behaviors.hpp>
   #include <smacc2/client_behaviors/cb_ros_launch.hpp>
   #include <smacc2/client_behaviors/cb_wait_action_server.hpp>
   
   using namespace cl_nav2z;
   using namespace smacc2::client_behaviors;
   
   // ORTHOGONALS
   #include "orthogonals/or_navigation.hpp"
   using namespace smacc2;
   
   namespace sm_aws_warehouse_navigation
   {
   //STATES
   struct StAcquireSensors;
   struct StStartNavigation;
   struct StInitialNavigateForward;
   struct StRotateMainAisle;
   struct StCheckPoint1;
   
   //STATE_MACHINE
   struct SmAwsWarehouseNavigation
   : public smacc2::SmaccStateMachineBase<SmAwsWarehouseNavigation, StAcquireSensors>
   {
     using SmaccStateMachineBase::SmaccStateMachineBase;
   
     virtual void onInitialize() override { this->createOrthogonal<OrNavigation>(); }
   };
   
   }  // namespace sm_aws_warehouse_navigation
   
   #include "states/st_acquire_sensors.hpp"
   #include "states/st_start_navigation.hpp"
   #include "states/st_checkpoint_1.hpp"
   #include "states/st_initial_forward.hpp"
   #include "states/st_rotate_main_aisle.hpp"