/// <summary> Constructor for empty message. </summary>
public MoveGroupResult()
{
ErrorCode = new MoveItErrorCodes();
TrajectoryStart = new MoveitMsgs.RobotState();
PlannedTrajectory = new MoveitMsgs.RobotTrajectory();
ExecutedTrajectory = new MoveitMsgs.RobotTrajectory();
}
/// <summary> Constructor with buffer. </summary>
internal MoveGroupResult(ref Buffer b)
{
ErrorCode = new MoveItErrorCodes(ref b);
TrajectoryStart = new MoveitMsgs.RobotState(ref b);
PlannedTrajectory = new MoveitMsgs.RobotTrajectory(ref b);
ExecutedTrajectory = new MoveitMsgs.RobotTrajectory(ref b);
PlanningTime = b.Deserialize <double>();
}
/// <summary> Explicit constructor. </summary>
public MoveGroupResult(MoveItErrorCodes ErrorCode, MoveitMsgs.RobotState TrajectoryStart, MoveitMsgs.RobotTrajectory PlannedTrajectory, MoveitMsgs.RobotTrajectory ExecutedTrajectory, double PlanningTime)
{
this.ErrorCode = ErrorCode;
this.TrajectoryStart = TrajectoryStart;
this.PlannedTrajectory = PlannedTrajectory;
this.ExecutedTrajectory = ExecutedTrajectory;
this.PlanningTime = PlanningTime;
}
/// <summary> Constructor for empty message. </summary>
public PositionIKRequest()
{
GroupName = string.Empty;
RobotState = new MoveitMsgs.RobotState();
Constraints = new Constraints();
IkLinkName = string.Empty;
PoseStamped = new GeometryMsgs.PoseStamped();
IkLinkNames = System.Array.Empty <string>();
PoseStampedVector = System.Array.Empty <GeometryMsgs.PoseStamped>();
}
/// <summary> Explicit constructor. </summary>
public PositionIKRequest(string GroupName, MoveitMsgs.RobotState RobotState, Constraints Constraints, bool AvoidCollisions, string IkLinkName, GeometryMsgs.PoseStamped PoseStamped, string[] IkLinkNames, GeometryMsgs.PoseStamped[] PoseStampedVector, duration Timeout, int Attempts)
{
this.GroupName = GroupName;
this.RobotState = RobotState;
this.Constraints = Constraints;
this.AvoidCollisions = AvoidCollisions;
this.IkLinkName = IkLinkName;
this.PoseStamped = PoseStamped;
this.IkLinkNames = IkLinkNames;
this.PoseStampedVector = PoseStampedVector;
this.Timeout = Timeout;
this.Attempts = Attempts;
}
/// <summary> Constructor with buffer. </summary>
internal PositionIKRequest(ref Buffer b)
{
GroupName = b.DeserializeString();
RobotState = new MoveitMsgs.RobotState(ref b);
Constraints = new Constraints(ref b);
AvoidCollisions = b.Deserialize <bool>();
IkLinkName = b.DeserializeString();
PoseStamped = new GeometryMsgs.PoseStamped(ref b);
IkLinkNames = b.DeserializeStringArray();
PoseStampedVector = b.DeserializeArray <GeometryMsgs.PoseStamped>();
for (int i = 0; i < PoseStampedVector.Length; i++)
{
PoseStampedVector[i] = new GeometryMsgs.PoseStamped(ref b);
}
Timeout = b.Deserialize <duration>();
Attempts = b.Deserialize <int>();
}
