.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_test_moveit_ur5_sim_include_sm_test_moveit_ur5_sim_sm_test_moveit_ur5_sim.hpp:

Program Listing for File sm_test_moveit_ur5_sim.hpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_test_moveit_ur5_sim_include_sm_test_moveit_ur5_sim_sm_test_moveit_ur5_sim.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_test_moveit_ur5_sim/include/sm_test_moveit_ur5_sim/sm_test_moveit_ur5_sim.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 MyName/MyCompany Inc.
   // Copyright 2021 RobosoftAI Inc. (template)
   //
   // 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 <memory>
   
   #include "rclcpp/rclcpp.hpp"
   #include "smacc2/smacc.hpp"
   
   // ORTHOGONALS
   #include "sm_test_moveit_ur5_sim/orthogonals/or_arm.hpp"
   
   #include <move_group_interface_client/cl_movegroup.hpp>
   #include <move_group_interface_client/client_behaviors.hpp>
   
   #include <smacc2/client_behaviors/cb_wait_topic_message.hpp>
   
   
   namespace sm_test_moveit_ur5_sim
   {
   
   using namespace cl_move_group_interface;
   
   //STATES
   struct StAcquireSensors;
   struct StMoveJoints;
   struct StMoveEndEffector;
   struct StMoveCartesianRelative;
   struct StMoveCartesianRelative2;
   struct StCircularPivotMotion;
   struct StAttachObject;
   struct StDetatchObject;
   struct StEndEffectorRotate;
   struct StExecuteLastTrajectory;
   struct StMoveKnownState;
   struct StPouringMotion;
   struct StUndoLastTrajectory;
   
   //--------------------------------------------------------------------
   //STATE_MACHINE
   struct SmTestMoveitUr5Sim : public smacc2::SmaccStateMachineBase<SmTestMoveitUr5Sim, StAcquireSensors>
   {
     using SmaccStateMachineBase::SmaccStateMachineBase;
   
     void onInitialize() override { this->createOrthogonal<OrArm>(); }
   };
   
   }  // namespace sm_test_moveit_ur5_sim
   
   // STATES
   #include "states/st_acquire_sensors.hpp"
   #include "states/st_attach_object.hpp"
   #include "states/st_move_end_effector.hpp"
   #include "states/st_circular_pivot_motion.hpp"
   #include "states/st_move_joints.hpp"
   #include "states/st_detach_object.hpp"
   #include "states/st_move_known_state.hpp"
   #include "states/st_end_effector_rotate.hpp"
   #include "states/st_move_last_trajectory_initial_state.hpp"
   #include "states/st_execute_last_trajectory.hpp"
   #include "states/st_move_named_target.hpp"
   #include "states/st_move_cartesian_relative2.hpp"
   #include "states/st_pouring_motion.hpp"
   #include "states/st_move_cartesian_relative.hpp"
   #include "states/st_undo_last_trajectory.hpp"