/// <summary> Constructor for empty message. </summary>
public PickupResult()
{
ErrorCode = new MoveItErrorCodes();
TrajectoryStart = new RobotState();
TrajectoryStages = System.Array.Empty <RobotTrajectory>();
TrajectoryDescriptions = System.Array.Empty <string>();
Grasp = new Grasp();
}
/// <summary> Explicit constructor. </summary>
public PickupResult(MoveItErrorCodes ErrorCode, RobotState TrajectoryStart, RobotTrajectory[] TrajectoryStages, string[] TrajectoryDescriptions, Grasp Grasp, double PlanningTime)
{
this.ErrorCode = ErrorCode;
this.TrajectoryStart = TrajectoryStart;
this.TrajectoryStages = TrajectoryStages;
this.TrajectoryDescriptions = TrajectoryDescriptions;
this.Grasp = Grasp;
this.PlanningTime = PlanningTime;
}
/// <summary> Constructor with buffer. </summary>
internal PickupResult(ref Buffer b)
{
ErrorCode = new MoveItErrorCodes(ref b);
TrajectoryStart = new RobotState(ref b);
TrajectoryStages = b.DeserializeArray <RobotTrajectory>();
for (int i = 0; i < TrajectoryStages.Length; i++)
{
TrajectoryStages[i] = new RobotTrajectory(ref b);
}
TrajectoryDescriptions = b.DeserializeStringArray();
Grasp = new Grasp(ref b);
PlanningTime = b.Deserialize <double>();
}
/// <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);
}
