message_checks.cpp

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/* Author: Michael Goerner */
 
#include <moveit/utils/message_checks.h>
 
namespace moveit
{
namespace core
{
bool isEmpty(const moveit_msgs::msg::PlanningScene& msg)
{
  return msg.name.empty() && msg.fixed_frame_transforms.empty() && msg.allowed_collision_matrix.entry_names.empty() &&
         msg.link_padding.empty() && msg.link_scale.empty() && isEmpty(msg.robot_state) && isEmpty(msg.world);
}
 
bool isEmpty(const moveit_msgs::msg::PlanningSceneWorld& msg)
{
  return msg.collision_objects.empty() && msg.octomap.octomap.data.empty();
}
 
bool isEmpty(const moveit_msgs::msg::RobotState& msg)
{
  // a state is empty if it includes no information and it is a diff; if the state is not a diff, then the implicit
  //   information is
  //   that the set of attached bodies is empty, so they must be cleared from the state to be updated
  return static_cast<bool>(msg.is_diff) && msg.multi_dof_joint_state.joint_names.empty() &&
         msg.joint_state.name.empty() && msg.attached_collision_objects.empty() && msg.joint_state.position.empty() &&
         msg.joint_state.velocity.empty() && msg.joint_state.effort.empty() &&
         msg.multi_dof_joint_state.transforms.empty() && msg.multi_dof_joint_state.twist.empty() &&
         msg.multi_dof_joint_state.wrench.empty();
}
 
bool isEmpty(const moveit_msgs::msg::Constraints& constr)
{
  return constr.position_constraints.empty() && constr.orientation_constraints.empty() &&
         constr.visibility_constraints.empty() && constr.joint_constraints.empty();
}
 
bool isEmpty(const geometry_msgs::msg::Quaternion& msg)
{
  return msg.x == 0.0 && msg.y == 0.0 && msg.z == 0.0 && msg.w == 1.0;
}
 
bool isEmpty(const geometry_msgs::msg::Pose& msg)
{
  return msg.position.x == 0.0 && msg.position.y == 0.0 && msg.position.z == 0.0 && isEmpty(msg.orientation);
}
 
}  // namespace core
}  // namespace moveit