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+#!/usr/bin/env python%0A%0Afrom flexbe_core import EventState, Logger%0Aimport rospy%0Aimport re%0Aimport ros%0Aimport math%0A%0Aclass processFollowDistance(EventState):%0A    %22%22%22%0A    Calcule la distance  entre deux points donnes.%0A%0A    ###Params%0A    --minimum_distance%0A    --divisor_distance%0A    --threshold%0A%0A    ### InputKey%0A    %3E#distance_of_target%0A%0A    ### OutputKey%0A    #%3E distance%0A%0A    ###Outcomes%0A    %3C= move%0A    %3C= done%0A    %22%22%22%0A    def __init__(self, minimum_distance, divisor_distance,threshold):%0A        %22%22%22Constructor%22%22%22%0A%0A        super(GetNumberFromText, self).__init__(outcomes = %5B'move','done'%5D, input_keys = %5B'distance_of_target'%5D, output_keys = %5B'distance'%5D)%0A        self.minimum_distance=minimum_distance%0A        self.divisor_distance=divisor_distance%0A        self.threshold=threshold%0A%0A    def execute(self, userdata):%0A        %22%22%22Determine action to perform and return outcome accordingly%22%22%22%0A%0A        retour = self.minimum_distance%0A        dis =userdata.distance%0A        if(dis%3Cself.threshold+self.minimum_distance and dis%3Eminimum_distance):%0A            return 'done'%0A        mi_distance = dis/self.divisor_distance%0A        if(mi_distance%3Eself.minimum_distance):retour =mi_distance%0A        userdata.distance = retour%0A        return 'move'%0A

Add processFollowDistance State