/// <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; }
/// <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; }
/// <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>(); }