AlignModelSrv.h

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/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-articulation-0.1.3/debian/ros-diamondback-articulation/opt/ros/diamondback/stacks/articulation/articulation_msgs/srv/AlignModelSrv.srv */
#ifndef ARTICULATION_MSGS_SERVICE_ALIGNMODELSRV_H
#define ARTICULATION_MSGS_SERVICE_ALIGNMODELSRV_H
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"

#include "ros/service_traits.h"

#include "articulation_msgs/ModelMsg.h"
#include "articulation_msgs/ModelMsg.h"


#include "articulation_msgs/ModelMsg.h"
#include "articulation_msgs/ModelMsg.h"

namespace articulation_msgs
{
template <class ContainerAllocator>
struct AlignModelSrvRequest_ : public ros::Message
{
  typedef AlignModelSrvRequest_<ContainerAllocator> Type;

  AlignModelSrvRequest_()
  : model()
  , data()
  {
  }

  AlignModelSrvRequest_(const ContainerAllocator& _alloc)
  : model(_alloc)
  , data(_alloc)
  {
  }

  typedef  ::articulation_msgs::ModelMsg_<ContainerAllocator>  _model_type;
   ::articulation_msgs::ModelMsg_<ContainerAllocator>  model;

  typedef  ::articulation_msgs::ModelMsg_<ContainerAllocator>  _data_type;
   ::articulation_msgs::ModelMsg_<ContainerAllocator>  data;


private:
  static const char* __s_getDataType_() { return "articulation_msgs/AlignModelSrvRequest"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "41219d340df4fefcab2da62ad6d15697"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getServerMD5Sum_() { return "24f8639d9e5b811cbb8a46156e9ac900"; }
public:
  ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }

  ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "\n\
\n\
\n\
\n\
\n\
\n\
\n\
articulation_msgs/ModelMsg model\n\
articulation_msgs/ModelMsg data\n\
\n\
================================================================================\n\
MSG: articulation_msgs/ModelMsg\n\
# Single kinematic model\n\
#\n\
# A kinematic model is defined by its model class name, and a set of parameters. \n\
# The client may additionally specify a model id, that can be used to colorize the\n\
# model when visualized using the RVIZ model display.\n\
# \n\
# For a list of currently implemented models, see the documetation at\n\
# http://www.ros.org/wiki/articulation_models\n\
#\n\
#\n\
\n\
Header header                        # frame and timestamp\n\
\n\
int32 id                             # user specified model id\n\
string name                          # name of the model family (e.g. \"rotational\",\n\
                                     # \"prismatic\", \"pca-gp\", \"rigid\")\n\
articulation_msgs/ParamMsg[] params  # model parameters\n\
articulation_msgs/TrackMsg track     # trajectory from which the model is estimated, or\n\
                                     # that is evaluated using the model\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: articulation_msgs/ParamMsg\n\
# Single parameter passed to or from model fitting\n\
#\n\
# This mechanism allows to flexibly pass parameters to \n\
# model fitting (and vice versa). Note that these parameters \n\
# are model-specific: A client may supply additional\n\
# parameters to the model estimator, and, similarly, a estimator\n\
# may add the estimated model parameters to the model message.\n\
# When the model is then evaluated, for example to make predictions\n\
# or to compute the likelihood, the model class can then use\n\
# these parameters.\n\
#\n\
# A parameter has a name, a value, and a type. The type globally\n\
# indicates whether it is a prior parameter (prior to model fitting),\n\
# or a model parameter (found during model fitting, using a maximum-\n\
# likelihood estimator), or a cached evaluation (e.g., the likelihood\n\
# or the BIC are a typical \"side\"-product of model estimation, and\n\
# can therefore already be cached).\n\
#\n\
# For a list of currently used parameters, see the documentation at\n\
# http://www.ros.org/wiki/articulation_models\n\
#\n\
\n\
uint8 PRIOR=0   # indicates a prior model parameter \n\
                # (e.g., \"sigma_position\")\n\
uint8 PARAM=1   # indicates a estimated model parameter \n\
                # (e.g., \"rot_radius\", the estimated radius)\n\
uint8 EVAL=2    # indicates a cached evaluation of the model, given \n\
                # the current trajectory\n\
                # (e.g., \"loglikelihood\", the log likelihood of the\n\
                # data, given the model and its parameters)\n\
\n\
string name     # name of the parameter\n\
float64 value   # value of the parameter\n\
uint8 type      # type of the parameter (PRIOR, PARAM, EVAL)\n\
\n\
\n\
================================================================================\n\
MSG: articulation_msgs/TrackMsg\n\
# Single kinematic trajectory\n\
#\n\
# This message contains a kinematic trajectory. The trajectory is specified\n\
# as a vector of 6D poses. An additional flag, track_type, indicates whether\n\
# the track is valid, and whether it includes orientation. The track id\n\
# can be used for automatic coloring in the RVIZ track plugin, and can be \n\
# freely chosen by the client. \n\
#\n\
# A model is fitting only from the trajectory stored in the pose[]-vector. \n\
# Additional information may be associated to each pose using the channels\n\
# vector, with arbitrary # fields (e.g., to include applied/measured forces). \n\
#\n\
# After model evaluation,\n\
# also the associated configurations of the object are stored in the channels,\n\
# named \"q[0]\"..\"q[DOF-1]\", where DOF is the number of degrees of freedom.\n\
# Model evaluation also projects the poses in the pose vector onto the model,\n\
# and stores these ideal poses in the vector pose_projected. Further, during model\n\
# evaluation, a new set of (uniform) configurations over the valid configuration\n\
# range is sampled, and the result is stored in pose_resampled.\n\
# The vector pose_flags contains additional display flags for the poses in the\n\
# pose vector, for example, whether a pose is visible and/or\n\
# the end of a trajectory segment. At the moment, this is only used by the\n\
# prior_model_learner.\n\
#\n\
\n\
Header header                           # Timestamp and frame\n\
int32 id                                # used-specified track id\n\
\n\
geometry_msgs/Pose[] pose               # sequence of poses, defining the observed trajectory\n\
geometry_msgs/Pose[] pose_projected     # sequence of poses, projected to the model \n\
                                        # (after model evaluation)\n\
geometry_msgs/Pose[] pose_resampled     # sequence of poses, re-sampled from the model in\n\
                                        # the valid configuration range\n\
uint32[] pose_flags                     # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT\n\
\n\
uint32 POSE_VISIBLE=1\n\
uint32 POSE_END_OF_SEGMENT=2\n\
\n\
# Each channel should have the same number of elements as pose array, \n\
# and the data in each channel should correspond 1:1 with each pose\n\
# possible channels: \"width\", \"height\", \"rgb\", ...\n\
sensor_msgs/ChannelFloat32[] channels       \n\
\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: sensor_msgs/ChannelFloat32\n\
# This message is used by the PointCloud message to hold optional data\n\
# associated with each point in the cloud. The length of the values\n\
# array should be the same as the length of the points array in the\n\
# PointCloud, and each value should be associated with the corresponding\n\
# point.\n\
\n\
# Channel names in existing practice include:\n\
#   \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
#              This is opposite to usual conventions but remains for\n\
#              historical reasons. The newer PointCloud2 message has no\n\
#              such problem.\n\
#   \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
#           (R,G,B) values packed into the least significant 24 bits,\n\
#           in order.\n\
#   \"intensity\" - laser or pixel intensity.\n\
#   \"distance\"\n\
\n\
# The channel name should give semantics of the channel (e.g.\n\
# \"intensity\" instead of \"value\").\n\
string name\n\
\n\
# The values array should be 1-1 with the elements of the associated\n\
# PointCloud.\n\
float32[] values\n\
\n\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, model);
    ros::serialization::serialize(stream, data);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, model);
    ros::serialization::deserialize(stream, data);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(model);
    size += ros::serialization::serializationLength(data);
    return size;
  }

  typedef boost::shared_ptr< ::articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::articulation_msgs::AlignModelSrvRequest_<ContainerAllocator>  const> ConstPtr;
}; // struct AlignModelSrvRequest
typedef  ::articulation_msgs::AlignModelSrvRequest_<std::allocator<void> > AlignModelSrvRequest;

typedef boost::shared_ptr< ::articulation_msgs::AlignModelSrvRequest> AlignModelSrvRequestPtr;
typedef boost::shared_ptr< ::articulation_msgs::AlignModelSrvRequest const> AlignModelSrvRequestConstPtr;


template <class ContainerAllocator>
struct AlignModelSrvResponse_ : public ros::Message
{
  typedef AlignModelSrvResponse_<ContainerAllocator> Type;

  AlignModelSrvResponse_()
  : model_aligned()
  , data_aligned()
  , R()
  , T()
  , dist_rot(0.0)
  , dist_trans(0.0)
  {
    R.assign(0.0);
    T.assign(0.0);
  }

  AlignModelSrvResponse_(const ContainerAllocator& _alloc)
  : model_aligned(_alloc)
  , data_aligned(_alloc)
  , R()
  , T()
  , dist_rot(0.0)
  , dist_trans(0.0)
  {
    R.assign(0.0);
    T.assign(0.0);
  }

  typedef  ::articulation_msgs::ModelMsg_<ContainerAllocator>  _model_aligned_type;
   ::articulation_msgs::ModelMsg_<ContainerAllocator>  model_aligned;

  typedef  ::articulation_msgs::ModelMsg_<ContainerAllocator>  _data_aligned_type;
   ::articulation_msgs::ModelMsg_<ContainerAllocator>  data_aligned;

  typedef boost::array<double, 9>  _R_type;
  boost::array<double, 9>  R;

  typedef boost::array<double, 3>  _T_type;
  boost::array<double, 3>  T;

  typedef double _dist_rot_type;
  double dist_rot;

  typedef float _dist_trans_type;
  float dist_trans;


  ROS_DEPRECATED uint32_t get_R_size() const { return (uint32_t)R.size(); }
  ROS_DEPRECATED uint32_t get_T_size() const { return (uint32_t)T.size(); }
private:
  static const char* __s_getDataType_() { return "articulation_msgs/AlignModelSrvResponse"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "bf4815f3efa4d7f5c033d2485524a4e6"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getServerMD5Sum_() { return "24f8639d9e5b811cbb8a46156e9ac900"; }
public:
  ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }

  ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "articulation_msgs/ModelMsg model_aligned\n\
\n\
\n\
articulation_msgs/ModelMsg data_aligned\n\
\n\
\n\
float64[9] R\n\
float64[3] T\n\
float64 dist_rot\n\
float32 dist_trans\n\
\n\
\n\
\n\
================================================================================\n\
MSG: articulation_msgs/ModelMsg\n\
# Single kinematic model\n\
#\n\
# A kinematic model is defined by its model class name, and a set of parameters. \n\
# The client may additionally specify a model id, that can be used to colorize the\n\
# model when visualized using the RVIZ model display.\n\
# \n\
# For a list of currently implemented models, see the documetation at\n\
# http://www.ros.org/wiki/articulation_models\n\
#\n\
#\n\
\n\
Header header                        # frame and timestamp\n\
\n\
int32 id                             # user specified model id\n\
string name                          # name of the model family (e.g. \"rotational\",\n\
                                     # \"prismatic\", \"pca-gp\", \"rigid\")\n\
articulation_msgs/ParamMsg[] params  # model parameters\n\
articulation_msgs/TrackMsg track     # trajectory from which the model is estimated, or\n\
                                     # that is evaluated using the model\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: articulation_msgs/ParamMsg\n\
# Single parameter passed to or from model fitting\n\
#\n\
# This mechanism allows to flexibly pass parameters to \n\
# model fitting (and vice versa). Note that these parameters \n\
# are model-specific: A client may supply additional\n\
# parameters to the model estimator, and, similarly, a estimator\n\
# may add the estimated model parameters to the model message.\n\
# When the model is then evaluated, for example to make predictions\n\
# or to compute the likelihood, the model class can then use\n\
# these parameters.\n\
#\n\
# A parameter has a name, a value, and a type. The type globally\n\
# indicates whether it is a prior parameter (prior to model fitting),\n\
# or a model parameter (found during model fitting, using a maximum-\n\
# likelihood estimator), or a cached evaluation (e.g., the likelihood\n\
# or the BIC are a typical \"side\"-product of model estimation, and\n\
# can therefore already be cached).\n\
#\n\
# For a list of currently used parameters, see the documentation at\n\
# http://www.ros.org/wiki/articulation_models\n\
#\n\
\n\
uint8 PRIOR=0   # indicates a prior model parameter \n\
                # (e.g., \"sigma_position\")\n\
uint8 PARAM=1   # indicates a estimated model parameter \n\
                # (e.g., \"rot_radius\", the estimated radius)\n\
uint8 EVAL=2    # indicates a cached evaluation of the model, given \n\
                # the current trajectory\n\
                # (e.g., \"loglikelihood\", the log likelihood of the\n\
                # data, given the model and its parameters)\n\
\n\
string name     # name of the parameter\n\
float64 value   # value of the parameter\n\
uint8 type      # type of the parameter (PRIOR, PARAM, EVAL)\n\
\n\
\n\
================================================================================\n\
MSG: articulation_msgs/TrackMsg\n\
# Single kinematic trajectory\n\
#\n\
# This message contains a kinematic trajectory. The trajectory is specified\n\
# as a vector of 6D poses. An additional flag, track_type, indicates whether\n\
# the track is valid, and whether it includes orientation. The track id\n\
# can be used for automatic coloring in the RVIZ track plugin, and can be \n\
# freely chosen by the client. \n\
#\n\
# A model is fitting only from the trajectory stored in the pose[]-vector. \n\
# Additional information may be associated to each pose using the channels\n\
# vector, with arbitrary # fields (e.g., to include applied/measured forces). \n\
#\n\
# After model evaluation,\n\
# also the associated configurations of the object are stored in the channels,\n\
# named \"q[0]\"..\"q[DOF-1]\", where DOF is the number of degrees of freedom.\n\
# Model evaluation also projects the poses in the pose vector onto the model,\n\
# and stores these ideal poses in the vector pose_projected. Further, during model\n\
# evaluation, a new set of (uniform) configurations over the valid configuration\n\
# range is sampled, and the result is stored in pose_resampled.\n\
# The vector pose_flags contains additional display flags for the poses in the\n\
# pose vector, for example, whether a pose is visible and/or\n\
# the end of a trajectory segment. At the moment, this is only used by the\n\
# prior_model_learner.\n\
#\n\
\n\
Header header                           # Timestamp and frame\n\
int32 id                                # used-specified track id\n\
\n\
geometry_msgs/Pose[] pose               # sequence of poses, defining the observed trajectory\n\
geometry_msgs/Pose[] pose_projected     # sequence of poses, projected to the model \n\
                                        # (after model evaluation)\n\
geometry_msgs/Pose[] pose_resampled     # sequence of poses, re-sampled from the model in\n\
                                        # the valid configuration range\n\
uint32[] pose_flags                     # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT\n\
\n\
uint32 POSE_VISIBLE=1\n\
uint32 POSE_END_OF_SEGMENT=2\n\
\n\
# Each channel should have the same number of elements as pose array, \n\
# and the data in each channel should correspond 1:1 with each pose\n\
# possible channels: \"width\", \"height\", \"rgb\", ...\n\
sensor_msgs/ChannelFloat32[] channels       \n\
\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: sensor_msgs/ChannelFloat32\n\
# This message is used by the PointCloud message to hold optional data\n\
# associated with each point in the cloud. The length of the values\n\
# array should be the same as the length of the points array in the\n\
# PointCloud, and each value should be associated with the corresponding\n\
# point.\n\
\n\
# Channel names in existing practice include:\n\
#   \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
#              This is opposite to usual conventions but remains for\n\
#              historical reasons. The newer PointCloud2 message has no\n\
#              such problem.\n\
#   \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
#           (R,G,B) values packed into the least significant 24 bits,\n\
#           in order.\n\
#   \"intensity\" - laser or pixel intensity.\n\
#   \"distance\"\n\
\n\
# The channel name should give semantics of the channel (e.g.\n\
# \"intensity\" instead of \"value\").\n\
string name\n\
\n\
# The values array should be 1-1 with the elements of the associated\n\
# PointCloud.\n\
float32[] values\n\
\n\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, model_aligned);
    ros::serialization::serialize(stream, data_aligned);
    ros::serialization::serialize(stream, R);
    ros::serialization::serialize(stream, T);
    ros::serialization::serialize(stream, dist_rot);
    ros::serialization::serialize(stream, dist_trans);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, model_aligned);
    ros::serialization::deserialize(stream, data_aligned);
    ros::serialization::deserialize(stream, R);
    ros::serialization::deserialize(stream, T);
    ros::serialization::deserialize(stream, dist_rot);
    ros::serialization::deserialize(stream, dist_trans);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(model_aligned);
    size += ros::serialization::serializationLength(data_aligned);
    size += ros::serialization::serializationLength(R);
    size += ros::serialization::serializationLength(T);
    size += ros::serialization::serializationLength(dist_rot);
    size += ros::serialization::serializationLength(dist_trans);
    return size;
  }

  typedef boost::shared_ptr< ::articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::articulation_msgs::AlignModelSrvResponse_<ContainerAllocator>  const> ConstPtr;
}; // struct AlignModelSrvResponse
typedef  ::articulation_msgs::AlignModelSrvResponse_<std::allocator<void> > AlignModelSrvResponse;

typedef boost::shared_ptr< ::articulation_msgs::AlignModelSrvResponse> AlignModelSrvResponsePtr;
typedef boost::shared_ptr< ::articulation_msgs::AlignModelSrvResponse const> AlignModelSrvResponseConstPtr;

struct AlignModelSrv
{

typedef AlignModelSrvRequest Request;
typedef AlignModelSrvResponse Response;
Request request;
Response response;

typedef Request RequestType;
typedef Response ResponseType;
}; // struct AlignModelSrv
} // namespace articulation_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "41219d340df4fefcab2da62ad6d15697";
  }

  static const char* value(const  ::articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x41219d340df4fefcULL;
  static const uint64_t static_value2 = 0xab2da62ad6d15697ULL;
};

template<class ContainerAllocator>
struct DataType< ::articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "articulation_msgs/AlignModelSrvRequest";
  }

  static const char* value(const  ::articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
\n\
\n\
\n\
\n\
\n\
\n\
articulation_msgs/ModelMsg model\n\
articulation_msgs/ModelMsg data\n\
\n\
================================================================================\n\
MSG: articulation_msgs/ModelMsg\n\
# Single kinematic model\n\
#\n\
# A kinematic model is defined by its model class name, and a set of parameters. \n\
# The client may additionally specify a model id, that can be used to colorize the\n\
# model when visualized using the RVIZ model display.\n\
# \n\
# For a list of currently implemented models, see the documetation at\n\
# http://www.ros.org/wiki/articulation_models\n\
#\n\
#\n\
\n\
Header header                        # frame and timestamp\n\
\n\
int32 id                             # user specified model id\n\
string name                          # name of the model family (e.g. \"rotational\",\n\
                                     # \"prismatic\", \"pca-gp\", \"rigid\")\n\
articulation_msgs/ParamMsg[] params  # model parameters\n\
articulation_msgs/TrackMsg track     # trajectory from which the model is estimated, or\n\
                                     # that is evaluated using the model\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: articulation_msgs/ParamMsg\n\
# Single parameter passed to or from model fitting\n\
#\n\
# This mechanism allows to flexibly pass parameters to \n\
# model fitting (and vice versa). Note that these parameters \n\
# are model-specific: A client may supply additional\n\
# parameters to the model estimator, and, similarly, a estimator\n\
# may add the estimated model parameters to the model message.\n\
# When the model is then evaluated, for example to make predictions\n\
# or to compute the likelihood, the model class can then use\n\
# these parameters.\n\
#\n\
# A parameter has a name, a value, and a type. The type globally\n\
# indicates whether it is a prior parameter (prior to model fitting),\n\
# or a model parameter (found during model fitting, using a maximum-\n\
# likelihood estimator), or a cached evaluation (e.g., the likelihood\n\
# or the BIC are a typical \"side\"-product of model estimation, and\n\
# can therefore already be cached).\n\
#\n\
# For a list of currently used parameters, see the documentation at\n\
# http://www.ros.org/wiki/articulation_models\n\
#\n\
\n\
uint8 PRIOR=0   # indicates a prior model parameter \n\
                # (e.g., \"sigma_position\")\n\
uint8 PARAM=1   # indicates a estimated model parameter \n\
                # (e.g., \"rot_radius\", the estimated radius)\n\
uint8 EVAL=2    # indicates a cached evaluation of the model, given \n\
                # the current trajectory\n\
                # (e.g., \"loglikelihood\", the log likelihood of the\n\
                # data, given the model and its parameters)\n\
\n\
string name     # name of the parameter\n\
float64 value   # value of the parameter\n\
uint8 type      # type of the parameter (PRIOR, PARAM, EVAL)\n\
\n\
\n\
================================================================================\n\
MSG: articulation_msgs/TrackMsg\n\
# Single kinematic trajectory\n\
#\n\
# This message contains a kinematic trajectory. The trajectory is specified\n\
# as a vector of 6D poses. An additional flag, track_type, indicates whether\n\
# the track is valid, and whether it includes orientation. The track id\n\
# can be used for automatic coloring in the RVIZ track plugin, and can be \n\
# freely chosen by the client. \n\
#\n\
# A model is fitting only from the trajectory stored in the pose[]-vector. \n\
# Additional information may be associated to each pose using the channels\n\
# vector, with arbitrary # fields (e.g., to include applied/measured forces). \n\
#\n\
# After model evaluation,\n\
# also the associated configurations of the object are stored in the channels,\n\
# named \"q[0]\"..\"q[DOF-1]\", where DOF is the number of degrees of freedom.\n\
# Model evaluation also projects the poses in the pose vector onto the model,\n\
# and stores these ideal poses in the vector pose_projected. Further, during model\n\
# evaluation, a new set of (uniform) configurations over the valid configuration\n\
# range is sampled, and the result is stored in pose_resampled.\n\
# The vector pose_flags contains additional display flags for the poses in the\n\
# pose vector, for example, whether a pose is visible and/or\n\
# the end of a trajectory segment. At the moment, this is only used by the\n\
# prior_model_learner.\n\
#\n\
\n\
Header header                           # Timestamp and frame\n\
int32 id                                # used-specified track id\n\
\n\
geometry_msgs/Pose[] pose               # sequence of poses, defining the observed trajectory\n\
geometry_msgs/Pose[] pose_projected     # sequence of poses, projected to the model \n\
                                        # (after model evaluation)\n\
geometry_msgs/Pose[] pose_resampled     # sequence of poses, re-sampled from the model in\n\
                                        # the valid configuration range\n\
uint32[] pose_flags                     # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT\n\
\n\
uint32 POSE_VISIBLE=1\n\
uint32 POSE_END_OF_SEGMENT=2\n\
\n\
# Each channel should have the same number of elements as pose array, \n\
# and the data in each channel should correspond 1:1 with each pose\n\
# possible channels: \"width\", \"height\", \"rgb\", ...\n\
sensor_msgs/ChannelFloat32[] channels       \n\
\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: sensor_msgs/ChannelFloat32\n\
# This message is used by the PointCloud message to hold optional data\n\
# associated with each point in the cloud. The length of the values\n\
# array should be the same as the length of the points array in the\n\
# PointCloud, and each value should be associated with the corresponding\n\
# point.\n\
\n\
# Channel names in existing practice include:\n\
#   \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
#              This is opposite to usual conventions but remains for\n\
#              historical reasons. The newer PointCloud2 message has no\n\
#              such problem.\n\
#   \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
#           (R,G,B) values packed into the least significant 24 bits,\n\
#           in order.\n\
#   \"intensity\" - laser or pixel intensity.\n\
#   \"distance\"\n\
\n\
# The channel name should give semantics of the channel (e.g.\n\
# \"intensity\" instead of \"value\").\n\
string name\n\
\n\
# The values array should be 1-1 with the elements of the associated\n\
# PointCloud.\n\
float32[] values\n\
\n\
";
  }

  static const char* value(const  ::articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros


namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "bf4815f3efa4d7f5c033d2485524a4e6";
  }

  static const char* value(const  ::articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xbf4815f3efa4d7f5ULL;
  static const uint64_t static_value2 = 0xc033d2485524a4e6ULL;
};

template<class ContainerAllocator>
struct DataType< ::articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "articulation_msgs/AlignModelSrvResponse";
  }

  static const char* value(const  ::articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "articulation_msgs/ModelMsg model_aligned\n\
\n\
\n\
articulation_msgs/ModelMsg data_aligned\n\
\n\
\n\
float64[9] R\n\
float64[3] T\n\
float64 dist_rot\n\
float32 dist_trans\n\
\n\
\n\
\n\
================================================================================\n\
MSG: articulation_msgs/ModelMsg\n\
# Single kinematic model\n\
#\n\
# A kinematic model is defined by its model class name, and a set of parameters. \n\
# The client may additionally specify a model id, that can be used to colorize the\n\
# model when visualized using the RVIZ model display.\n\
# \n\
# For a list of currently implemented models, see the documetation at\n\
# http://www.ros.org/wiki/articulation_models\n\
#\n\
#\n\
\n\
Header header                        # frame and timestamp\n\
\n\
int32 id                             # user specified model id\n\
string name                          # name of the model family (e.g. \"rotational\",\n\
                                     # \"prismatic\", \"pca-gp\", \"rigid\")\n\
articulation_msgs/ParamMsg[] params  # model parameters\n\
articulation_msgs/TrackMsg track     # trajectory from which the model is estimated, or\n\
                                     # that is evaluated using the model\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: articulation_msgs/ParamMsg\n\
# Single parameter passed to or from model fitting\n\
#\n\
# This mechanism allows to flexibly pass parameters to \n\
# model fitting (and vice versa). Note that these parameters \n\
# are model-specific: A client may supply additional\n\
# parameters to the model estimator, and, similarly, a estimator\n\
# may add the estimated model parameters to the model message.\n\
# When the model is then evaluated, for example to make predictions\n\
# or to compute the likelihood, the model class can then use\n\
# these parameters.\n\
#\n\
# A parameter has a name, a value, and a type. The type globally\n\
# indicates whether it is a prior parameter (prior to model fitting),\n\
# or a model parameter (found during model fitting, using a maximum-\n\
# likelihood estimator), or a cached evaluation (e.g., the likelihood\n\
# or the BIC are a typical \"side\"-product of model estimation, and\n\
# can therefore already be cached).\n\
#\n\
# For a list of currently used parameters, see the documentation at\n\
# http://www.ros.org/wiki/articulation_models\n\
#\n\
\n\
uint8 PRIOR=0   # indicates a prior model parameter \n\
                # (e.g., \"sigma_position\")\n\
uint8 PARAM=1   # indicates a estimated model parameter \n\
                # (e.g., \"rot_radius\", the estimated radius)\n\
uint8 EVAL=2    # indicates a cached evaluation of the model, given \n\
                # the current trajectory\n\
                # (e.g., \"loglikelihood\", the log likelihood of the\n\
                # data, given the model and its parameters)\n\
\n\
string name     # name of the parameter\n\
float64 value   # value of the parameter\n\
uint8 type      # type of the parameter (PRIOR, PARAM, EVAL)\n\
\n\
\n\
================================================================================\n\
MSG: articulation_msgs/TrackMsg\n\
# Single kinematic trajectory\n\
#\n\
# This message contains a kinematic trajectory. The trajectory is specified\n\
# as a vector of 6D poses. An additional flag, track_type, indicates whether\n\
# the track is valid, and whether it includes orientation. The track id\n\
# can be used for automatic coloring in the RVIZ track plugin, and can be \n\
# freely chosen by the client. \n\
#\n\
# A model is fitting only from the trajectory stored in the pose[]-vector. \n\
# Additional information may be associated to each pose using the channels\n\
# vector, with arbitrary # fields (e.g., to include applied/measured forces). \n\
#\n\
# After model evaluation,\n\
# also the associated configurations of the object are stored in the channels,\n\
# named \"q[0]\"..\"q[DOF-1]\", where DOF is the number of degrees of freedom.\n\
# Model evaluation also projects the poses in the pose vector onto the model,\n\
# and stores these ideal poses in the vector pose_projected. Further, during model\n\
# evaluation, a new set of (uniform) configurations over the valid configuration\n\
# range is sampled, and the result is stored in pose_resampled.\n\
# The vector pose_flags contains additional display flags for the poses in the\n\
# pose vector, for example, whether a pose is visible and/or\n\
# the end of a trajectory segment. At the moment, this is only used by the\n\
# prior_model_learner.\n\
#\n\
\n\
Header header                           # Timestamp and frame\n\
int32 id                                # used-specified track id\n\
\n\
geometry_msgs/Pose[] pose               # sequence of poses, defining the observed trajectory\n\
geometry_msgs/Pose[] pose_projected     # sequence of poses, projected to the model \n\
                                        # (after model evaluation)\n\
geometry_msgs/Pose[] pose_resampled     # sequence of poses, re-sampled from the model in\n\
                                        # the valid configuration range\n\
uint32[] pose_flags                     # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT\n\
\n\
uint32 POSE_VISIBLE=1\n\
uint32 POSE_END_OF_SEGMENT=2\n\
\n\
# Each channel should have the same number of elements as pose array, \n\
# and the data in each channel should correspond 1:1 with each pose\n\
# possible channels: \"width\", \"height\", \"rgb\", ...\n\
sensor_msgs/ChannelFloat32[] channels       \n\
\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: sensor_msgs/ChannelFloat32\n\
# This message is used by the PointCloud message to hold optional data\n\
# associated with each point in the cloud. The length of the values\n\
# array should be the same as the length of the points array in the\n\
# PointCloud, and each value should be associated with the corresponding\n\
# point.\n\
\n\
# Channel names in existing practice include:\n\
#   \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
#              This is opposite to usual conventions but remains for\n\
#              historical reasons. The newer PointCloud2 message has no\n\
#              such problem.\n\
#   \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
#           (R,G,B) values packed into the least significant 24 bits,\n\
#           in order.\n\
#   \"intensity\" - laser or pixel intensity.\n\
#   \"distance\"\n\
\n\
# The channel name should give semantics of the channel (e.g.\n\
# \"intensity\" instead of \"value\").\n\
string name\n\
\n\
# The values array should be 1-1 with the elements of the associated\n\
# PointCloud.\n\
float32[] values\n\
\n\
";
  }

  static const char* value(const  ::articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.model);
    stream.next(m.data);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct AlignModelSrvRequest_
} // namespace serialization
} // namespace ros


namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.model_aligned);
    stream.next(m.data_aligned);
    stream.next(m.R);
    stream.next(m.T);
    stream.next(m.dist_rot);
    stream.next(m.dist_trans);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct AlignModelSrvResponse_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace service_traits
{
template<>
struct MD5Sum<articulation_msgs::AlignModelSrv> {
  static const char* value() 
  {
    return "24f8639d9e5b811cbb8a46156e9ac900";
  }

  static const char* value(const articulation_msgs::AlignModelSrv&) { return value(); } 
};

template<>
struct DataType<articulation_msgs::AlignModelSrv> {
  static const char* value() 
  {
    return "articulation_msgs/AlignModelSrv";
  }

  static const char* value(const articulation_msgs::AlignModelSrv&) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "24f8639d9e5b811cbb8a46156e9ac900";
  }

  static const char* value(const articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct DataType<articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "articulation_msgs/AlignModelSrv";
  }

  static const char* value(const articulation_msgs::AlignModelSrvRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "24f8639d9e5b811cbb8a46156e9ac900";
  }

  static const char* value(const articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct DataType<articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "articulation_msgs/AlignModelSrv";
  }

  static const char* value(const articulation_msgs::AlignModelSrvResponse_<ContainerAllocator> &) { return value(); } 
};

} // namespace service_traits
} // namespace ros

#endif // ARTICULATION_MSGS_SERVICE_ALIGNMODELSRV_H

---

articulation_msgs
Author(s): Juergen Sturm
autogenerated on Fri Jan 11 10:08:48 2013