/// <summary> Constructor for empty message. </summary>
public PlaceResult()
{
ErrorCode = new MoveItErrorCodes();
TrajectoryStart = new RobotState();
TrajectoryStages = System.Array.Empty <RobotTrajectory>();
TrajectoryDescriptions = System.Array.Empty <string>();
PlaceLocation = new PlaceLocation();
}
/// <summary> Explicit constructor. </summary>
public PlaceResult(MoveItErrorCodes ErrorCode, RobotState TrajectoryStart, RobotTrajectory[] TrajectoryStages, string[] TrajectoryDescriptions, PlaceLocation PlaceLocation, double PlanningTime)
{
this.ErrorCode = ErrorCode;
this.TrajectoryStart = TrajectoryStart;
this.TrajectoryStages = TrajectoryStages;
this.TrajectoryDescriptions = TrajectoryDescriptions;
this.PlaceLocation = PlaceLocation;
this.PlanningTime = PlanningTime;
}
/// <summary> Constructor with buffer. </summary>
internal PlaceResult(ref Buffer b)
{
ErrorCode = new MoveItErrorCodes(ref b);
TrajectoryStart = new RobotState(ref b);
TrajectoryStages = b.DeserializeArray <RobotTrajectory>();
for (int i = 0; i < TrajectoryStages.Length; i++)
{
TrajectoryStages[i] = new RobotTrajectory(ref b);
}
TrajectoryDescriptions = b.DeserializeStringArray();
PlaceLocation = new PlaceLocation(ref b);
PlanningTime = b.Deserialize <double>();
}
/// <summary> Constructor with buffer. </summary>
internal PlaceGoal(ref Buffer b)
{
GroupName = b.DeserializeString();
AttachedObjectName = b.DeserializeString();
PlaceLocations = b.DeserializeArray <PlaceLocation>();
for (int i = 0; i < PlaceLocations.Length; i++)
{
PlaceLocations[i] = new PlaceLocation(ref b);
}
PlaceEef = b.Deserialize <bool>();
SupportSurfaceName = b.DeserializeString();
AllowGripperSupportCollision = b.Deserialize <bool>();
PathConstraints = new Constraints(ref b);
PlannerId = b.DeserializeString();
AllowedTouchObjects = b.DeserializeStringArray();
AllowedPlanningTime = b.Deserialize <double>();
PlanningOptions = new PlanningOptions(ref b);
}
