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/* Author: Michael 'v4hn' Goerner */

#pragma once

/** \brief Checks for empty MoveIt-related messages */

#include <moveit_msgs/PlanningScene.h>
#include <moveit_msgs/PlanningSceneWorld.h>
#include <moveit_msgs/RobotState.h>
#include <moveit_msgs/Constraints.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Pose.h>

namespace moveit
{
namespace core
{
/** \brief Check if a message includes any information about a planning scene, or whether it is empty. */
bool isEmpty(const moveit_msgs::PlanningScene& msg);

/** \brief Check if a message includes any information about a planning scene world, or whether it is empty. */
bool isEmpty(const moveit_msgs::PlanningSceneWorld& msg);

/** \brief Check if a message includes any information about a robot state, or whether it is empty. */
bool isEmpty(const moveit_msgs::RobotState& msg);

/** \brief Check if a message specifies constraints */
bool isEmpty(const moveit_msgs::Constraints& msg);

/** \brief Check if the message contains any non-zero entries */
bool isEmpty(const geometry_msgs::Quaternion& msg);

/** \brief Check if the message contains any non-zero entries */
bool isEmpty(const geometry_msgs::Pose& msg);
}  // namespace core
}  // namespace moveit
