/// <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>();
}
