/// <summary> Constructor with buffer. </summary>
internal PlaceLocation(ref Buffer b)
{
Id = b.DeserializeString();
PostPlacePosture = new TrajectoryMsgs.JointTrajectory(ref b);
PlacePose = new GeometryMsgs.PoseStamped(ref b);
PrePlaceApproach = new GripperTranslation(ref b);
PostPlaceRetreat = new GripperTranslation(ref b);
AllowedTouchObjects = b.DeserializeStringArray();
}
/// <summary> Explicit constructor. </summary>
public PlaceLocation(string Id, TrajectoryMsgs.JointTrajectory PostPlacePosture, GeometryMsgs.PoseStamped PlacePose, GripperTranslation PrePlaceApproach, GripperTranslation PostPlaceRetreat, string[] AllowedTouchObjects)
{
this.Id = Id;
this.PostPlacePosture = PostPlacePosture;
this.PlacePose = PlacePose;
this.PrePlaceApproach = PrePlaceApproach;
this.PostPlaceRetreat = PostPlaceRetreat;
this.AllowedTouchObjects = AllowedTouchObjects;
}
/// <summary> Constructor for empty message. </summary>
public PlaceLocation()
{
Id = string.Empty;
PostPlacePosture = new TrajectoryMsgs.JointTrajectory();
PlacePose = new GeometryMsgs.PoseStamped();
PrePlaceApproach = new GripperTranslation();
PostPlaceRetreat = new GripperTranslation();
AllowedTouchObjects = System.Array.Empty <string>();
}
/// <summary> Constructor with buffer. </summary>
internal Grasp(ref Buffer b)
{
Id = b.DeserializeString();
PreGraspPosture = new TrajectoryMsgs.JointTrajectory(ref b);
GraspPosture = new TrajectoryMsgs.JointTrajectory(ref b);
GraspPose = new GeometryMsgs.PoseStamped(ref b);
GraspQuality = b.Deserialize <double>();
PreGraspApproach = new GripperTranslation(ref b);
PostGraspRetreat = new GripperTranslation(ref b);
PostPlaceRetreat = new GripperTranslation(ref b);
MaxContactForce = b.Deserialize <float>();
AllowedTouchObjects = b.DeserializeStringArray();
}
/// <summary> Explicit constructor. </summary>
public Grasp(string Id, TrajectoryMsgs.JointTrajectory PreGraspPosture, TrajectoryMsgs.JointTrajectory GraspPosture, GeometryMsgs.PoseStamped GraspPose, double GraspQuality, GripperTranslation PreGraspApproach, GripperTranslation PostGraspRetreat, GripperTranslation PostPlaceRetreat, float MaxContactForce, string[] AllowedTouchObjects)
{
this.Id = Id;
this.PreGraspPosture = PreGraspPosture;
this.GraspPosture = GraspPosture;
this.GraspPose = GraspPose;
this.GraspQuality = GraspQuality;
this.PreGraspApproach = PreGraspApproach;
this.PostGraspRetreat = PostGraspRetreat;
this.PostPlaceRetreat = PostPlaceRetreat;
this.MaxContactForce = MaxContactForce;
this.AllowedTouchObjects = AllowedTouchObjects;
}
