BIG DEVELOPMENT, now smach transitions can use action results, YAY
BIG DEVELOPMENT, now smach transitions can use action results, YAY

 - This was a hard one, basically the smach requires an internal member to store the output key, which can be assigned via a callback to the result of the action
 - This result can then be used to perform a transition, as long as the transition is explicitly described
 - Currently our result-based transitions are within a concurrency container, so transitions are described on the callback after child death
 - TODO: IMPORTANT, search for ball and similar actions do NOT terminate when preempted by the transition state, this is the LAST piece in the puzzle to figure out

edinferno/edinferno,edinferno/edinferno,edinferno/edinferno,edinferno/edinferno