// 1. Include HFSM header:
#include <hfsm/machine_single.hpp>

// 2. Define interface class between the FSM and its owner
//    (also ok to use the owner object itself):
struct Context { /* ... */ };

// 3. (Optional) Typedef hfsm::Machine for convenience:
using M = hfsm::Machine<OwnerClass>;

// 4. Define states:
struct MyState1 : M::Bare {
    // 5. Override some of the following state functions:
    void enter(Context& _);
    void update(Context& _);
    void transition(Control& c, Context& _);
    void leave(Context& _);
};

struct MyState2 : M::Bare { /* .. */ };
struct MySubState1 : M::Bare { /* .. */ };
struct MySubState2 : M::Bare { /* .. */ };

struct MyState3 : M::Bare { /* .. */ };
struct MyOrthogonalState1 : M::Bare { /* .. */ };
struct MyOrthogonalState2 : M::Bare { /* .. */ };

// 6. Declare state machine structure:
using MyFSM = M::PeerRoot<
    MyState1,
    M::Composite<MyState2,
        MySubState1,
        MySubState2,
    >,
    M::Orthogonal<MyState3,
        MyOrthogonalState1,
        MyOrthogonalState2,
    >
>;

int main() {
    // 7. Create context and state machine instances:
    Context context;
    MyFSM fsm(context);

    // 8. Kick off periodic updates:
    bool running = true;
    while (running)
        fsm.update();

    return 0;
}