This following example shows how to share a variable between two states. In the Navigate state the “angle_value” variable is set using the template method “setData”. Later, in the ExecuteToolState, it retrieves (gets) the value using the template method “getGlobalSMData”.

struct Navigate : SmaccState<Navigate, SimpleStateMachine>
{
public:
  using SmaccState::SmaccState;
  void onEntry()
  {
        double angle = M_PI;
        this->setGlobalSMData("angle_value", angle);
  }
};

struct ExecuteToolState : SmaccState<ExecuteToolState, SimpleStateMachine>
{
    using SmaccState::SmaccState;
    void onEntry()
    {
         int angle;
         this->getGlobalSMData("angle_value", angle);
    }
};