ros2_interfaces_jazzy/moveit_msgs/srv/
get_state_validity.rs

1use serde::{Deserialize, Serialize};
2
3
4#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
5pub struct GetStateValidityRequest {
6    pub robot_state: crate::moveit_msgs::msg::RobotState,
7    pub group_name: ::std::string::String,
8    pub constraints: crate::moveit_msgs::msg::Constraints,
9}
10
11impl Default for GetStateValidityRequest {
12    fn default() -> Self {
13        GetStateValidityRequest {
14            robot_state: crate::moveit_msgs::msg::RobotState::default(),
15            group_name: ::std::string::String::new(),
16            constraints: crate::moveit_msgs::msg::Constraints::default(),
17        }
18    }
19}
20
21impl ros2_client::Message for GetStateValidityRequest {}
22
23
24
25#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
26pub struct GetStateValidityResponse {
27    pub valid: bool,
28    pub contacts: Vec<crate::moveit_msgs::msg::ContactInformation>,
29    pub cost_sources: Vec<crate::moveit_msgs::msg::CostSource>,
30    pub constraint_result: Vec<crate::moveit_msgs::msg::ConstraintEvalResult>,
31}
32
33impl Default for GetStateValidityResponse {
34    fn default() -> Self {
35        GetStateValidityResponse {
36            valid: false,
37            contacts: Vec::new(),
38            cost_sources: Vec::new(),
39            constraint_result: Vec::new(),
40        }
41    }
42}
43
44impl ros2_client::Message for GetStateValidityResponse {}
45
46
47pub struct GetStateValidity;
48impl ros2_client::Service for GetStateValidity {
49    type Request = GetStateValidityRequest;
50    type Response = GetStateValidityResponse;
51
52    fn request_type_name(&self) -> &str { "GetStateValidityRequest" }
53    fn response_type_name(&self) -> &str { "GetStateValidityResponse" }
54}
ros2_interfaces_jazzy/moveit_msgs/srv/get_state_validity.rs

ros2_interfaces_jazzy/moveit_msgs/srv/
get_state_validity.rs
