/// <summary> Constructor for empty message. </summary>
public PlaceGoal()
{
GroupName = string.Empty;
AttachedObjectName = string.Empty;
PlaceLocations = System.Array.Empty <PlaceLocation>();
SupportSurfaceName = string.Empty;
PathConstraints = new Constraints();
PlannerId = string.Empty;
AllowedTouchObjects = System.Array.Empty <string>();
PlanningOptions = new PlanningOptions();
}
/// <summary> Constructor for empty message. </summary>
public PickupGoal()
{
TargetName = string.Empty;
GroupName = string.Empty;
EndEffector = string.Empty;
PossibleGrasps = System.Array.Empty <Grasp>();
SupportSurfaceName = string.Empty;
AttachedObjectTouchLinks = System.Array.Empty <string>();
PathConstraints = new Constraints();
PlannerId = string.Empty;
AllowedTouchObjects = System.Array.Empty <string>();
PlanningOptions = new PlanningOptions();
}
/// <summary> Explicit constructor. </summary>
public PlaceGoal(string GroupName, string AttachedObjectName, PlaceLocation[] PlaceLocations, bool PlaceEef, string SupportSurfaceName, bool AllowGripperSupportCollision, Constraints PathConstraints, string PlannerId, string[] AllowedTouchObjects, double AllowedPlanningTime, PlanningOptions PlanningOptions)
{
this.GroupName = GroupName;
this.AttachedObjectName = AttachedObjectName;
this.PlaceLocations = PlaceLocations;
this.PlaceEef = PlaceEef;
this.SupportSurfaceName = SupportSurfaceName;
this.AllowGripperSupportCollision = AllowGripperSupportCollision;
this.PathConstraints = PathConstraints;
this.PlannerId = PlannerId;
this.AllowedTouchObjects = AllowedTouchObjects;
this.AllowedPlanningTime = AllowedPlanningTime;
this.PlanningOptions = PlanningOptions;
}
/// <summary> Explicit constructor. </summary>
public PickupGoal(string TargetName, string GroupName, string EndEffector, Grasp[] PossibleGrasps, string SupportSurfaceName, bool AllowGripperSupportCollision, string[] AttachedObjectTouchLinks, bool MinimizeObjectDistance, Constraints PathConstraints, string PlannerId, string[] AllowedTouchObjects, double AllowedPlanningTime, PlanningOptions PlanningOptions)
{
this.TargetName = TargetName;
this.GroupName = GroupName;
this.EndEffector = EndEffector;
this.PossibleGrasps = PossibleGrasps;
this.SupportSurfaceName = SupportSurfaceName;
this.AllowGripperSupportCollision = AllowGripperSupportCollision;
this.AttachedObjectTouchLinks = AttachedObjectTouchLinks;
this.MinimizeObjectDistance = MinimizeObjectDistance;
this.PathConstraints = PathConstraints;
this.PlannerId = PlannerId;
this.AllowedTouchObjects = AllowedTouchObjects;
this.AllowedPlanningTime = AllowedPlanningTime;
this.PlanningOptions = PlanningOptions;
}
/// <summary> Constructor with buffer. </summary>
internal PlaceGoal(ref Buffer b)
{
GroupName = b.DeserializeString();
AttachedObjectName = b.DeserializeString();
PlaceLocations = b.DeserializeArray <PlaceLocation>();
for (int i = 0; i < PlaceLocations.Length; i++)
{
PlaceLocations[i] = new PlaceLocation(ref b);
}
PlaceEef = b.Deserialize <bool>();
SupportSurfaceName = b.DeserializeString();
AllowGripperSupportCollision = b.Deserialize <bool>();
PathConstraints = new Constraints(ref b);
PlannerId = b.DeserializeString();
AllowedTouchObjects = b.DeserializeStringArray();
AllowedPlanningTime = b.Deserialize <double>();
PlanningOptions = new PlanningOptions(ref b);
}
/// <summary> Constructor with buffer. </summary>
internal PickupGoal(ref Buffer b)
{
TargetName = b.DeserializeString();
GroupName = b.DeserializeString();
EndEffector = b.DeserializeString();
PossibleGrasps = b.DeserializeArray <Grasp>();
for (int i = 0; i < PossibleGrasps.Length; i++)
{
PossibleGrasps[i] = new Grasp(ref b);
}
SupportSurfaceName = b.DeserializeString();
AllowGripperSupportCollision = b.Deserialize <bool>();
AttachedObjectTouchLinks = b.DeserializeStringArray();
MinimizeObjectDistance = b.Deserialize <bool>();
PathConstraints = new Constraints(ref b);
PlannerId = b.DeserializeString();
AllowedTouchObjects = b.DeserializeStringArray();
AllowedPlanningTime = b.Deserialize <double>();
PlanningOptions = new PlanningOptions(ref b);
}
/// <summary> Constructor with buffer. </summary>
internal MoveGroupSequenceGoal(ref Buffer b)
{
Request = new MotionSequenceRequest(ref b);
PlanningOptions = new PlanningOptions(ref b);
}
/// <summary> Explicit constructor. </summary>
public MoveGroupSequenceGoal(MotionSequenceRequest Request, PlanningOptions PlanningOptions)
{
this.Request = Request;
this.PlanningOptions = PlanningOptions;
}
/// <summary> Constructor for empty message. </summary>
public MoveGroupSequenceGoal()
{
Request = new MotionSequenceRequest();
PlanningOptions = new PlanningOptions();
}
/// <summary> Explicit constructor. </summary>
public MoveGroupGoal(MotionPlanRequest Request, PlanningOptions PlanningOptions)
{
this.Request = Request;
this.PlanningOptions = PlanningOptions;
}
/// <summary> Constructor for empty message. </summary>
public MoveGroupGoal()
{
Request = new MotionPlanRequest();
PlanningOptions = new PlanningOptions();
}
