From b8c25e97d9feb981925542f9e26a3222ec14a045 Mon Sep 17 00:00:00 2001
From: rayvburn <j.karwowski@stud.elka.pw.edu.pl>
Date: Sat, 19 Feb 2022 21:52:28 +0100
Subject: [PATCH] hubero_core - FollowObject task: added transition handlers to
 setup animations

---
 .../include/hubero_core/tasks/task_follow_object.h     | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/hubero_core/include/hubero_core/tasks/task_follow_object.h b/hubero_core/include/hubero_core/tasks/task_follow_object.h
index 88f5116c..a871195d 100644
--- a/hubero_core/include/hubero_core/tasks/task_follow_object.h
+++ b/hubero_core/include/hubero_core/tasks/task_follow_object.h
@@ -31,6 +31,16 @@ class TaskFollowObject: public TaskEssentials<FsmFollowObject, FsmFollowObject::
 			TaskFollowObject::State::MOVING_TO_GOAL,
 			std::bind(&TaskFollowObject::thSetupAnimation, this, ANIMATION_WALK)
 		);
+		fsm_.addTransitionHandler(
+			TaskFollowObject::State::MOVING_TO_GOAL,
+			TaskFollowObject::State::FINISHED,
+			std::bind(&TaskFollowObject::thSetupAnimation, this, ANIMATION_STAND)
+		);
+		fsm_.addTransitionHandler(
+			TaskFollowObject::State::MOVING_TO_GOAL,
+			TaskFollowObject::State::WAITING_FOR_MOVEMENT,
+			std::bind(&TaskFollowObject::thSetupAnimation, this, ANIMATION_STAND)
+		);
 	}
 
 	virtual bool request(const std::string& object_name) override {