public ActionResult GetRoutePlanning(PlanningOptions options)
{
ReturnObject2 ro = null;
try
{
var route = RoutePlanning.GetRoute(options);
object result = null;
if (options.TripMode == 1)
{
result = BusRoute.Parse(route);
}
else
{
result = DrivingResult.Parse(route);
}
ro = new ReturnObject2();
ro.AddData("route", result);
}
catch (Exception ex)
{
ro = new ReturnObject2(ex.Message);
}
return(Json(ro));
}
public PlaceGoal(string group_name, string attached_object_name, PlaceLocation[] place_locations, bool place_eef, string support_surface_name, bool allow_gripper_support_collision, Constraints path_constraints, string planner_id, string[] allowed_touch_objects, double allowed_planning_time, PlanningOptions planning_options)
{
this.group_name = group_name;
this.attached_object_name = attached_object_name;
this.place_locations = place_locations;
this.place_eef = place_eef;
this.support_surface_name = support_surface_name;
this.allow_gripper_support_collision = allow_gripper_support_collision;
this.path_constraints = path_constraints;
this.planner_id = planner_id;
this.allowed_touch_objects = allowed_touch_objects;
this.allowed_planning_time = allowed_planning_time;
this.planning_options = planning_options;
}
public PlaceGoal()
{
this.group_name = "";
this.attached_object_name = "";
this.place_locations = new PlaceLocation[0];
this.place_eef = false;
this.support_surface_name = "";
this.allow_gripper_support_collision = false;
this.path_constraints = new Constraints();
this.planner_id = "";
this.allowed_touch_objects = new string[0];
this.allowed_planning_time = 0.0;
this.planning_options = new PlanningOptions();
}
public PickupGoal(string target_name, string group_name, string end_effector, Grasp[] possible_grasps, string support_surface_name, bool allow_gripper_support_collision, string[] attached_object_touch_links, bool minimize_object_distance, Constraints path_constraints, string planner_id, string[] allowed_touch_objects, double allowed_planning_time, PlanningOptions planning_options)
{
this.target_name = target_name;
this.group_name = group_name;
this.end_effector = end_effector;
this.possible_grasps = possible_grasps;
this.support_surface_name = support_surface_name;
this.allow_gripper_support_collision = allow_gripper_support_collision;
this.attached_object_touch_links = attached_object_touch_links;
this.minimize_object_distance = minimize_object_distance;
this.path_constraints = path_constraints;
this.planner_id = planner_id;
this.allowed_touch_objects = allowed_touch_objects;
this.allowed_planning_time = allowed_planning_time;
this.planning_options = planning_options;
}
public PickupGoal()
{
this.target_name = "";
this.group_name = "";
this.end_effector = "";
this.possible_grasps = new Grasp[0];
this.support_surface_name = "";
this.allow_gripper_support_collision = false;
this.attached_object_touch_links = new string[0];
this.minimize_object_distance = false;
this.path_constraints = new Constraints();
this.planner_id = "";
this.allowed_touch_objects = new string[0];
this.allowed_planning_time = 0.0;
this.planning_options = new PlanningOptions();
}
public MoveGroupSequenceGoal(MotionSequenceRequest request, PlanningOptions planning_options)
{
this.request = request;
this.planning_options = planning_options;
}
public MoveGroupSequenceGoal()
{
this.request = new MotionSequenceRequest();
this.planning_options = new PlanningOptions();
}
public MoveGroupGoal()
{
this.request = new MotionPlanRequest();
this.planning_options = new PlanningOptions();
}
