.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_husky_barrel_search_1_include_sm_husky_barrel_search_1_sm_husky_barrel_search_1.hpp:

Program Listing for File sm_husky_barrel_search_1.hpp
=====================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_husky_barrel_search_1_include_sm_husky_barrel_search_1_sm_husky_barrel_search_1.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_husky_barrel_search_1/include/sm_husky_barrel_search_1/sm_husky_barrel_search_1.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.
   
   #pragma once
   
   #include <memory>
   
   #include "rclcpp/rclcpp.hpp"
   #include "smacc2/smacc.hpp"
   
   // CLIENT BEHAVIORS
   #include <nav2z_client/nav2z_client.hpp>
   #include <nav2z_client/client_behaviors.hpp>
   
   // ORTHOGONALS
   #include "orthogonals/or_navigation.hpp"
   #include "orthogonals/or_perception.hpp"
   #include "orthogonals/or_led_array.hpp"
   
   namespace sm_husky_barrel_search_1
   {
   
   //STATES
   struct StAcquireSensors;
   struct StDetectItems;
   struct StNavigateToWaypointX;
   
   //--------------------------------------------------------------------
   //STATE_MACHINE
   struct SmHuskyBarrelSearch1
   : public smacc2::SmaccStateMachineBase<SmHuskyBarrelSearch1, StAcquireSensors>
   {
     using SmaccStateMachineBase::SmaccStateMachineBase;
   
     void onInitialize() override
     {
       this->createOrthogonal<OrNavigation>();
       this->createOrthogonal<OrPerception>();
       this->createOrthogonal<OrLedArray>();
     }
   };
   }  // namespace sm_husky_barrel_search_1
   
   //STATES
   #include "states/st_acquire_sensors.hpp"
   #include "states/st_detect_items.hpp"
   #include "states/st_navigate_to_waypoint_x.hpp"