
­†Z`  ã               @   s$   d  d l  TGd d „  d e ƒ Z d S)é    )Ú*c                   sL   e  Z d  Z ‡  f d d †  Z e d d d d e d ƒ ƒZ d d „  Z ‡  S)	ÚLab5c          	      s,   t  ƒ  j d d d d d d d t j ƒ d  S)NÚworldmap_viewerTÚpath_viewerÚparticle_viewerÚlandmark_test)ÚsuperÚ__init__ÚSLAMSensorModelÚis_cube)Úself)Ú	__class__© ú	./Lab5.pyr	      s    zLab5.__init__i,  r   Úangle_zé´   c             C   s®   t  ƒ  j d ƒ j |  ƒ } t |  j ƒ j d ƒ j |  ƒ } t d ƒ j d ƒ j |  ƒ } t ƒ  j d ƒ } | j | ƒ j | ƒ t	 ƒ  j d ƒ } | j | ƒ j | ƒ |  S)zV
            StateNode() =TM=> PilotToPose(self.destination) =C=> Say('done')
        Ú
statenode1Úpilottopose1ÚdoneÚsay1Útextmsgtrans1Úcompletiontrans1)
Ú	StateNodeÚset_nameÚ
set_parentÚPilotToPoseÚdestinationÚSayÚTextMsgTransÚadd_sourcesÚadd_destinationsÚCompletionTrans)r   r   r   r   r   r   r   r   r   Úsetup   s    !z
Lab5.setup)Ú__name__Ú
__module__Ú__qualname__r	   ÚPoseÚdegreesr   r"   r   r   )r   r   r      s   r   N)Ú	cozmo_fsmÚStateMachineProgramr   r   r   r   r   Ú<module>   s   
