uav_states_actions.h

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#pragma once
// States and actions corresponding to basic events
#include <aerial_autonomy/actions_guards/hovering_functors.h>
#include <aerial_autonomy/actions_guards/land_functors.h>
#include <aerial_autonomy/actions_guards/manual_control_functors.h>
#include <aerial_autonomy/actions_guards/position_control_functors.h>
#include <aerial_autonomy/actions_guards/takeoff_functors.h>

template <class LogicStateMachineT> struct UAVStatesActions {
  // Basic states
  using TakingOff = TakingOff_<LogicStateMachineT>;
  using Landing = Landing_<LogicStateMachineT>;
  using ReachingGoal = ReachingGoal_<LogicStateMachineT>;
  using Hovering = Hovering_<LogicStateMachineT>;
  using Landed = Landed_<LogicStateMachineT>;
  using ManualControlState = ManualControlState_<LogicStateMachineT>;

  // Basic transition Actions
  using TakeoffAction = TakeoffTransitionActionFunctor_<LogicStateMachineT>;
  using TakeoffGuard = TakeoffTransitionGuardFunctor_<LogicStateMachineT>;
  using TakeoffAbort = TakeoffAbortActionFunctor_<LogicStateMachineT>;
  using LandingAction = LandTransitionActionFunctor_<LogicStateMachineT>;
  using ReachingGoalSet =
      PositionControlTransitionActionFunctor_<LogicStateMachineT>;
  using ReachingGoalGuard =
      PositionControlTransitionGuardFunctor_<LogicStateMachineT>;
  using UAVControllerAbort =
      UAVControllerAbortActionFunctor_<LogicStateMachineT>;
  using ReachingGoalLand = LandingAction;
  using ManualControlSwitchAction =
      ManualControlSwitchAction_<LogicStateMachineT>;
  using ManualControlSwitchGuard =
      ManualControlSwitchGuard_<LogicStateMachineT>;
};