/// <summary> Constructor with buffer. </summary>
internal PlaceLocation(ref Buffer b)
{
Id = b.DeserializeString();
PostPlacePosture = new TrajectoryMsgs.JointTrajectory(ref b);
PlacePose = new GeometryMsgs.PoseStamped(ref b);
PrePlaceApproach = new GripperTranslation(ref b);
PostPlaceRetreat = new GripperTranslation(ref b);
AllowedTouchObjects = b.DeserializeStringArray();
}
/// <summary> Explicit constructor. </summary>
public PlaceLocation(string Id, TrajectoryMsgs.JointTrajectory PostPlacePosture, GeometryMsgs.PoseStamped PlacePose, GripperTranslation PrePlaceApproach, GripperTranslation PostPlaceRetreat, string[] AllowedTouchObjects)
{
this.Id = Id;
this.PostPlacePosture = PostPlacePosture;
this.PlacePose = PlacePose;
this.PrePlaceApproach = PrePlaceApproach;
this.PostPlaceRetreat = PostPlaceRetreat;
this.AllowedTouchObjects = AllowedTouchObjects;
}
/// <summary> Constructor for empty message. </summary>
public PlaceLocation()
{
Id = string.Empty;
PostPlacePosture = new TrajectoryMsgs.JointTrajectory();
PlacePose = new GeometryMsgs.PoseStamped();
PrePlaceApproach = new GripperTranslation();
PostPlaceRetreat = new GripperTranslation();
AllowedTouchObjects = System.Array.Empty <string>();
}
/// <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> Constructor with buffer. </summary>
internal VisibilityConstraint(ref Buffer b)
{
TargetRadius = b.Deserialize <double>();
TargetPose = new GeometryMsgs.PoseStamped(ref b);
ConeSides = b.Deserialize <int>();
SensorPose = new GeometryMsgs.PoseStamped(ref b);
MaxViewAngle = b.Deserialize <double>();
MaxRangeAngle = b.Deserialize <double>();
SensorViewDirection = b.Deserialize <byte>();
Weight = b.Deserialize <double>();
}
/// <summary> Explicit constructor. </summary>
public VisibilityConstraint(double TargetRadius, GeometryMsgs.PoseStamped TargetPose, int ConeSides, GeometryMsgs.PoseStamped SensorPose, double MaxViewAngle, double MaxRangeAngle, byte SensorViewDirection, double Weight)
{
this.TargetRadius = TargetRadius;
this.TargetPose = TargetPose;
this.ConeSides = ConeSides;
this.SensorPose = SensorPose;
this.MaxViewAngle = MaxViewAngle;
this.MaxRangeAngle = MaxRangeAngle;
this.SensorViewDirection = SensorViewDirection;
this.Weight = Weight;
}
/// <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 Grasp(ref Buffer b)
{
Id = b.DeserializeString();
PreGraspPosture = new TrajectoryMsgs.JointTrajectory(ref b);
GraspPosture = new TrajectoryMsgs.JointTrajectory(ref b);
GraspPose = new GeometryMsgs.PoseStamped(ref b);
GraspQuality = b.Deserialize <double>();
PreGraspApproach = new GripperTranslation(ref b);
PostGraspRetreat = new GripperTranslation(ref b);
PostPlaceRetreat = new GripperTranslation(ref b);
MaxContactForce = b.Deserialize <float>();
AllowedTouchObjects = b.DeserializeStringArray();
}
/// <summary> Explicit constructor. </summary>
public Grasp(string Id, TrajectoryMsgs.JointTrajectory PreGraspPosture, TrajectoryMsgs.JointTrajectory GraspPosture, GeometryMsgs.PoseStamped GraspPose, double GraspQuality, GripperTranslation PreGraspApproach, GripperTranslation PostGraspRetreat, GripperTranslation PostPlaceRetreat, float MaxContactForce, string[] AllowedTouchObjects)
{
this.Id = Id;
this.PreGraspPosture = PreGraspPosture;
this.GraspPosture = GraspPosture;
this.GraspPose = GraspPose;
this.GraspQuality = GraspQuality;
this.PreGraspApproach = PreGraspApproach;
this.PostGraspRetreat = PostGraspRetreat;
this.PostPlaceRetreat = PostPlaceRetreat;
this.MaxContactForce = MaxContactForce;
this.AllowedTouchObjects = AllowedTouchObjects;
}
/// <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>();
}
/// <summary> Constructor for empty message. </summary>
public VisibilityConstraint()
{
TargetPose = new GeometryMsgs.PoseStamped();
SensorPose = new GeometryMsgs.PoseStamped();
}
