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jsk-ros-pkg / jsk_roseus

ROS EusLisp Client
http://wiki.ros.org/roseus/Tutorials
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[roseus_smach] add bottom-active-state #701

Closed knorth55 closed 2 years ago

knorth55 commented 2 years ago

Current :active-state methods returns top node, and we need to dig submachine to get bottom active state. This PR adds :bottom-active-state method, which digs active-state in submachines.

k-okada commented 2 years ago

and we need to dig submachine to get bottom active state.

do you mean "active state in submodule ?"

knorth55 commented 2 years ago

yes, I mean active state in submachine. If the submachine has a submachine inside, this method dig to the bottom submachine and get active state in the bottom submachine.

Like this situation, this method returns active state at the bottom. state machine -> active submachine -> active submachine -> active state