/// <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; }