/// <summary> Constructor for empty message. </summary>
public MotionPlanResponse()
{
TrajectoryStart = new RobotState();
GroupName = string.Empty;
Trajectory = new RobotTrajectory();
ErrorCode = new MoveItErrorCodes();
}
/// <summary> Constructor with buffer. </summary>
internal MotionPlanResponse(ref Buffer b)
{
TrajectoryStart = new RobotState(ref b);
GroupName = b.DeserializeString();
Trajectory = new RobotTrajectory(ref b);
PlanningTime = b.Deserialize <double>();
ErrorCode = new MoveItErrorCodes(ref b);
}
/// <summary> Explicit constructor. </summary>
public MotionPlanResponse(RobotState TrajectoryStart, string GroupName, RobotTrajectory Trajectory, double PlanningTime, MoveItErrorCodes ErrorCode)
{
this.TrajectoryStart = TrajectoryStart;
this.GroupName = GroupName;
this.Trajectory = Trajectory;
this.PlanningTime = PlanningTime;
this.ErrorCode = ErrorCode;
}
/// <summary> Constructor with buffer. </summary>
internal DisplayTrajectory(ref Buffer b)
{
ModelId = b.DeserializeString();
Trajectory = b.DeserializeArray <RobotTrajectory>();
for (int i = 0; i < Trajectory.Length; i++)
{
Trajectory[i] = new RobotTrajectory(ref b);
}
TrajectoryStart = new RobotState(ref b);
}
/// <summary> Constructor with buffer. </summary>
internal MotionSequenceResponse(ref Buffer b)
{
ErrorCode = new MoveItErrorCodes(ref b);
SequenceStart = new RobotState(ref b);
PlannedTrajectories = b.DeserializeArray <RobotTrajectory>();
for (int i = 0; i < PlannedTrajectories.Length; i++)
{
PlannedTrajectories[i] = new RobotTrajectory(ref b);
}
PlanningTime = b.Deserialize <double>();
}
/// <summary> Constructor with buffer. </summary>
internal PlaceResult(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();
PlaceLocation = new PlaceLocation(ref b);
PlanningTime = b.Deserialize <double>();
}
/// <summary> Constructor with buffer. </summary>
internal MotionPlanDetailedResponse(ref Buffer b)
{
TrajectoryStart = new RobotState(ref b);
GroupName = b.DeserializeString();
Trajectory = b.DeserializeArray <RobotTrajectory>();
for (int i = 0; i < Trajectory.Length; i++)
{
Trajectory[i] = new RobotTrajectory(ref b);
}
Description = b.DeserializeStringArray();
ProcessingTime = b.DeserializeStructArray <double>();
ErrorCode = new MoveItErrorCodes(ref b);
}
/// <summary> Constructor with buffer. </summary>
internal ExecuteTrajectoryGoal(ref Buffer b)
{
Trajectory = new RobotTrajectory(ref b);
}
/// <summary> Explicit constructor. </summary>
public ExecuteTrajectoryGoal(RobotTrajectory Trajectory)
{
this.Trajectory = Trajectory;
}
/// <summary> Constructor for empty message. </summary>
public ExecuteTrajectoryGoal()
{
Trajectory = new RobotTrajectory();
}
