Example #1
0
 /// <summary> Constructor for empty message. </summary>
 public MotionPlanRequest()
 {
     WorkspaceParameters   = new WorkspaceParameters();
     StartState            = new RobotState();
     GoalConstraints       = System.Array.Empty <Constraints>();
     PathConstraints       = new Constraints();
     TrajectoryConstraints = new TrajectoryConstraints();
     PlannerId             = string.Empty;
     GroupName             = string.Empty;
 }
Example #2
0
 /// <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;
 }
Example #3
0
 /// <summary> Constructor with buffer. </summary>
 internal MotionPlanRequest(ref Buffer b)
 {
     WorkspaceParameters = new WorkspaceParameters(ref b);
     StartState          = new RobotState(ref b);
     GoalConstraints     = b.DeserializeArray <Constraints>();
     for (int i = 0; i < GoalConstraints.Length; i++)
     {
         GoalConstraints[i] = new Constraints(ref b);
     }
     PathConstraints              = new Constraints(ref b);
     TrajectoryConstraints        = new TrajectoryConstraints(ref b);
     PlannerId                    = b.DeserializeString();
     GroupName                    = b.DeserializeString();
     NumPlanningAttempts          = b.Deserialize <int>();
     AllowedPlanningTime          = b.Deserialize <double>();
     MaxVelocityScalingFactor     = b.Deserialize <double>();
     MaxAccelerationScalingFactor = b.Deserialize <double>();
 }