message_checks.cpp
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34 
35 /* Author: Michael Goerner */
36 
38 
39 namespace moveit
40 {
41 namespace core
42 {
43 bool isEmpty(const moveit_msgs::PlanningScene& msg)
44 {
45  return msg.name.empty() && msg.fixed_frame_transforms.empty() && msg.allowed_collision_matrix.entry_names.empty() &&
46  msg.link_padding.empty() && msg.link_scale.empty() && isEmpty(msg.robot_state) && isEmpty(msg.world);
47 }
48 
49 bool isEmpty(const moveit_msgs::PlanningSceneWorld& msg)
50 {
51  return msg.collision_objects.empty() && msg.octomap.octomap.data.empty();
52 }
53 
54 bool isEmpty(const moveit_msgs::RobotState& msg)
55 {
56  /* a state is empty if it includes no information and it is a diff; if the state is not a diff, then the implicit
57  information is
58  that the set of attached bodies is empty, so they must be cleared from the state to be updated */
59  return static_cast<bool>(msg.is_diff) && msg.multi_dof_joint_state.joint_names.empty() &&
60  msg.joint_state.name.empty() && msg.attached_collision_objects.empty() && msg.joint_state.position.empty() &&
61  msg.joint_state.velocity.empty() && msg.joint_state.effort.empty() &&
62  msg.multi_dof_joint_state.transforms.empty() && msg.multi_dof_joint_state.twist.empty() &&
63  msg.multi_dof_joint_state.wrench.empty();
64 }
65 
66 bool isEmpty(const moveit_msgs::Constraints& constr)
67 {
68  return constr.position_constraints.empty() && constr.orientation_constraints.empty() &&
69  constr.visibility_constraints.empty() && constr.joint_constraints.empty();
70 }
71 
72 bool isEmpty(const geometry_msgs::Quaternion& msg)
73 {
74  return msg.x == 0.0 && msg.y == 0.0 && msg.z == 0.0 && msg.w == 0.0;
75 }
76 
77 bool isEmpty(const geometry_msgs::Pose& msg)
78 {
79  return msg.position.x == 0.0 && msg.position.y == 0.0 && msg.position.z == 0.0 && isEmpty(msg.orientation);
80 }
81 
82 } // namespace core
83 } // namespace moveit
moveit
Main namespace for MoveIt.
Definition: background_processing.h:46
message_checks.h
moveit::core::isEmpty
bool isEmpty(const moveit_msgs::PlanningScene &msg)
Check if a message includes any information about a planning scene, or whether it is empty.
Definition: message_checks.cpp:107


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Jan 18 2022 03:23:44