/// <summary> Constructor with buffer. </summary>
internal PickupGoal(ref Buffer b)
{
TargetName = b.DeserializeString();
GroupName = b.DeserializeString();
EndEffector = b.DeserializeString();
PossibleGrasps = b.DeserializeArray <Grasp>();
for (int i = 0; i < PossibleGrasps.Length; i++)
{
PossibleGrasps[i] = new Grasp(ref b);
}
SupportSurfaceName = b.DeserializeString();
AllowGripperSupportCollision = b.Deserialize <bool>();
AttachedObjectTouchLinks = b.DeserializeStringArray();
MinimizeObjectDistance = b.Deserialize <bool>();
PathConstraints = new Constraints(ref b);
PlannerId = b.DeserializeString();
AllowedTouchObjects = b.DeserializeStringArray();
AllowedPlanningTime = b.Deserialize <double>();
PlanningOptions = new PlanningOptions(ref b);
}
/// <summary> Explicit constructor. </summary>
public PlaceGoal(string GroupName, string AttachedObjectName, PlaceLocation[] PlaceLocations, bool PlaceEef, string SupportSurfaceName, bool AllowGripperSupportCollision, Constraints PathConstraints, string PlannerId, string[] AllowedTouchObjects, double AllowedPlanningTime, PlanningOptions PlanningOptions)
{
this.GroupName = GroupName;
this.AttachedObjectName = AttachedObjectName;
this.PlaceLocations = PlaceLocations;
this.PlaceEef = PlaceEef;
this.SupportSurfaceName = SupportSurfaceName;
this.AllowGripperSupportCollision = AllowGripperSupportCollision;
this.PathConstraints = PathConstraints;
this.PlannerId = PlannerId;
this.AllowedTouchObjects = AllowedTouchObjects;
this.AllowedPlanningTime = AllowedPlanningTime;
this.PlanningOptions = PlanningOptions;
}
/// <summary> Explicit constructor. </summary>
public MotionPlanRequest(WorkspaceParameters WorkspaceParameters, RobotState StartState, Constraints[] GoalConstraints, Constraints PathConstraints, TrajectoryConstraints TrajectoryConstraints, string PlannerId, string GroupName, int NumPlanningAttempts, double AllowedPlanningTime, double MaxVelocityScalingFactor, double MaxAccelerationScalingFactor)
{
this.WorkspaceParameters = WorkspaceParameters;
this.StartState = StartState;
this.GoalConstraints = GoalConstraints;
this.PathConstraints = PathConstraints;
this.TrajectoryConstraints = TrajectoryConstraints;
this.PlannerId = PlannerId;
this.GroupName = GroupName;
this.NumPlanningAttempts = NumPlanningAttempts;
this.AllowedPlanningTime = AllowedPlanningTime;
this.MaxVelocityScalingFactor = MaxVelocityScalingFactor;
this.MaxAccelerationScalingFactor = MaxAccelerationScalingFactor;
}
/// <summary> Explicit constructor. </summary>
public PickupGoal(string TargetName, string GroupName, string EndEffector, Grasp[] PossibleGrasps, string SupportSurfaceName, bool AllowGripperSupportCollision, string[] AttachedObjectTouchLinks, bool MinimizeObjectDistance, Constraints PathConstraints, string PlannerId, string[] AllowedTouchObjects, double AllowedPlanningTime, PlanningOptions PlanningOptions)
{
this.TargetName = TargetName;
this.GroupName = GroupName;
this.EndEffector = EndEffector;
this.PossibleGrasps = PossibleGrasps;
this.SupportSurfaceName = SupportSurfaceName;
this.AllowGripperSupportCollision = AllowGripperSupportCollision;
this.AttachedObjectTouchLinks = AttachedObjectTouchLinks;
this.MinimizeObjectDistance = MinimizeObjectDistance;
this.PathConstraints = PathConstraints;
this.PlannerId = PlannerId;
this.AllowedTouchObjects = AllowedTouchObjects;
this.AllowedPlanningTime = AllowedPlanningTime;
this.PlanningOptions = PlanningOptions;
}
