/// <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> 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 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> 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; }