Exemplo n.º 1
0
 /// <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>();
 }
Exemplo n.º 2
0
 /// <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();
 }
Exemplo n.º 3
0
 /// <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;
 }