public static PlanParametersModel ToModel(this PlanParameters parameters) =>
new PlanParametersModel
{
JointNames = parameters.JointSet.ToArray(),
CollisionCheck = parameters.CollisionCheck,
MoveGroupName = parameters.MoveGroupName,
MaxAcceleration = parameters.MaxAcceleration,
MaxVelocity = parameters.MaxVelocity,
SampleResolution = parameters.SampleResolution
};
/// <summary>
/// Create <c>Builder</c> object from a <c>PlanParameters</c> object.
/// </summary>
/// <param name="instance">The <c>PlanParameters</c> object to be converted to <c>Builder</c> object.</param>
public Builder(PlanParameters instance)
{
this.MoveGroupName = instance.MoveGroupName;
this.JointSet = instance.JointSet;
this.MaxVelocity = instance.MaxVelocity;
this.MaxAcceleration = instance.MaxAcceleration;
this.CollisionCheck = instance.CollisionCheck;
this.SampleResolution = instance.SampleResolution;
this.MaxDeviation = instance.MaxDeviation;
}
