/// <summary> Constructor with buffer. </summary>
internal PlanningScene(ref Buffer b)
{
Name = b.DeserializeString();
RobotState = new RobotState(ref b);
RobotModelName = b.DeserializeString();
FixedFrameTransforms = b.DeserializeArray <GeometryMsgs.TransformStamped>();
for (int i = 0; i < FixedFrameTransforms.Length; i++)
{
GeometryMsgs.TransformStamped.Deserialize(ref b, out FixedFrameTransforms[i]);
}
AllowedCollisionMatrix = new AllowedCollisionMatrix(ref b);
LinkPadding = b.DeserializeArray <LinkPadding>();
for (int i = 0; i < LinkPadding.Length; i++)
{
LinkPadding[i] = new LinkPadding(ref b);
}
LinkScale = b.DeserializeArray <LinkScale>();
for (int i = 0; i < LinkScale.Length; i++)
{
LinkScale[i] = new LinkScale(ref b);
}
ObjectColors = b.DeserializeArray <ObjectColor>();
for (int i = 0; i < ObjectColors.Length; i++)
{
ObjectColors[i] = new ObjectColor(ref b);
}
World = new PlanningSceneWorld(ref b);
IsDiff = b.Deserialize <bool>();
}
/// <summary> Constructor for empty message. </summary>
public PlanningScene()
{
Name = string.Empty;
RobotState = new RobotState();
RobotModelName = string.Empty;
FixedFrameTransforms = System.Array.Empty <GeometryMsgs.TransformStamped>();
AllowedCollisionMatrix = new AllowedCollisionMatrix();
LinkPadding = System.Array.Empty <LinkPadding>();
LinkScale = System.Array.Empty <LinkScale>();
ObjectColors = System.Array.Empty <ObjectColor>();
World = new PlanningSceneWorld();
}
/// <summary> Explicit constructor. </summary>
public PlanningScene(string Name, RobotState RobotState, string RobotModelName, GeometryMsgs.TransformStamped[] FixedFrameTransforms, AllowedCollisionMatrix AllowedCollisionMatrix, LinkPadding[] LinkPadding, LinkScale[] LinkScale, ObjectColor[] ObjectColors, PlanningSceneWorld World, bool IsDiff)
{
this.Name = Name;
this.RobotState = RobotState;
this.RobotModelName = RobotModelName;
this.FixedFrameTransforms = FixedFrameTransforms;
this.AllowedCollisionMatrix = AllowedCollisionMatrix;
this.LinkPadding = LinkPadding;
this.LinkScale = LinkScale;
this.ObjectColors = ObjectColors;
this.World = World;
this.IsDiff = IsDiff;
}
