ros2_interfaces_rolling/moveit_msgs/msg/
motion_plan_request.rs

1use serde::{Deserialize, Serialize};
2
3#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
4pub struct MotionPlanRequest {
5    pub workspace_parameters: crate::moveit_msgs::msg::WorkspaceParameters,
6    pub start_state: crate::moveit_msgs::msg::RobotState,
7    pub goal_constraints: Vec<crate::moveit_msgs::msg::Constraints>,
8    pub path_constraints: crate::moveit_msgs::msg::Constraints,
9    pub trajectory_constraints: crate::moveit_msgs::msg::TrajectoryConstraints,
10    pub reference_trajectories: Vec<crate::moveit_msgs::msg::GenericTrajectory>,
11    pub pipeline_id: ::std::string::String,
12    pub planner_id: ::std::string::String,
13    pub group_name: ::std::string::String,
14    pub num_planning_attempts: i32,
15    pub allowed_planning_time: f64,
16    pub max_velocity_scaling_factor: f64,
17    pub max_acceleration_scaling_factor: f64,
18    pub cartesian_speed_limited_link: ::std::string::String,
19    pub max_cartesian_speed: f64,
20}
21
22impl Default for MotionPlanRequest {
23    fn default() -> Self {
24        MotionPlanRequest {
25            workspace_parameters: crate::moveit_msgs::msg::WorkspaceParameters::default(),
26            start_state: crate::moveit_msgs::msg::RobotState::default(),
27            goal_constraints: Vec::new(),
28            path_constraints: crate::moveit_msgs::msg::Constraints::default(),
29            trajectory_constraints: crate::moveit_msgs::msg::TrajectoryConstraints::default(),
30            reference_trajectories: Vec::new(),
31            pipeline_id: ::std::string::String::new(),
32            planner_id: ::std::string::String::new(),
33            group_name: ::std::string::String::new(),
34            num_planning_attempts: 0,
35            allowed_planning_time: 0.0,
36            max_velocity_scaling_factor: 0.0,
37            max_acceleration_scaling_factor: 0.0,
38            cartesian_speed_limited_link: ::std::string::String::new(),
39            max_cartesian_speed: 0.0,
40        }
41    }
42}
43
44impl ros2_client::Message for MotionPlanRequest {}
ros2_interfaces_rolling/moveit_msgs/msg/motion_plan_request.rs

ros2_interfaces_rolling/moveit_msgs/msg/
motion_plan_request.rs
