ros2_interfaces_jazzy/moveit_msgs/msg/
visibility_constraint.rs

1use serde::{Deserialize, Serialize};
2
3#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
4pub struct VisibilityConstraint {
5    pub target_radius: f64,
6    pub target_pose: crate::geometry_msgs::msg::PoseStamped,
7    pub cone_sides: i32,
8    pub sensor_pose: crate::geometry_msgs::msg::PoseStamped,
9    pub max_view_angle: f64,
10    pub max_range_angle: f64,
11    pub sensor_view_direction: u8,
12    pub weight: f64,
13}
14
15impl VisibilityConstraint {
16    pub const SENSOR_Z: u8 = 0;
17    pub const SENSOR_Y: u8 = 1;
18    pub const SENSOR_X: u8 = 2;
19}
20
21impl Default for VisibilityConstraint {
22    fn default() -> Self {
23        VisibilityConstraint {
24            target_radius: 0.0,
25            target_pose: crate::geometry_msgs::msg::PoseStamped::default(),
26            cone_sides: 0,
27            sensor_pose: crate::geometry_msgs::msg::PoseStamped::default(),
28            max_view_angle: 0.0,
29            max_range_angle: 0.0,
30            sensor_view_direction: 0,
31            weight: 0.0,
32        }
33    }
34}
35
36impl ros2_client::Message for VisibilityConstraint {}