articulation_msgs: _AlignModelSrv.py Source File

00001 """autogenerated by genmsg_py from AlignModelSrvRequest.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004 
00005 import sensor_msgs.msg
00006 import geometry_msgs.msg
00007 import articulation_msgs.msg
00008 import std_msgs.msg
00009 
00010 class AlignModelSrvRequest(roslib.message.Message):
00011   _md5sum = "41219d340df4fefcab2da62ad6d15697"
00012   _type = "articulation_msgs/AlignModelSrvRequest"
00013   _has_header = False #flag to mark the presence of a Header object
00014   _full_text = """
00015 
00016 
00017 
00018 
00019 
00020 
00021 articulation_msgs/ModelMsg model
00022 articulation_msgs/ModelMsg data
00023 
00024 ================================================================================
00025 MSG: articulation_msgs/ModelMsg
00026 # Single kinematic model
00027 #
00028 # A kinematic model is defined by its model class name, and a set of parameters. 
00029 # The client may additionally specify a model id, that can be used to colorize the
00030 # model when visualized using the RVIZ model display.
00031 # 
00032 # For a list of currently implemented models, see the documetation at
00033 # http://www.ros.org/wiki/articulation_models
00034 #
00035 #
00036 
00037 Header header                        # frame and timestamp
00038 
00039 int32 id                             # user specified model id
00040 string name                          # name of the model family (e.g. "rotational",
00041                                      # "prismatic", "pca-gp", "rigid")
00042 articulation_msgs/ParamMsg[] params  # model parameters
00043 articulation_msgs/TrackMsg track     # trajectory from which the model is estimated, or
00044                                      # that is evaluated using the model
00045 
00046 ================================================================================
00047 MSG: std_msgs/Header
00048 # Standard metadata for higher-level stamped data types.
00049 # This is generally used to communicate timestamped data 
00050 # in a particular coordinate frame.
00051 # 
00052 # sequence ID: consecutively increasing ID 
00053 uint32 seq
00054 #Two-integer timestamp that is expressed as:
00055 # * stamp.secs: seconds (stamp_secs) since epoch
00056 # * stamp.nsecs: nanoseconds since stamp_secs
00057 # time-handling sugar is provided by the client library
00058 time stamp
00059 #Frame this data is associated with
00060 # 0: no frame
00061 # 1: global frame
00062 string frame_id
00063 
00064 ================================================================================
00065 MSG: articulation_msgs/ParamMsg
00066 # Single parameter passed to or from model fitting
00067 #
00068 # This mechanism allows to flexibly pass parameters to 
00069 # model fitting (and vice versa). Note that these parameters 
00070 # are model-specific: A client may supply additional
00071 # parameters to the model estimator, and, similarly, a estimator
00072 # may add the estimated model parameters to the model message.
00073 # When the model is then evaluated, for example to make predictions
00074 # or to compute the likelihood, the model class can then use
00075 # these parameters.
00076 #
00077 # A parameter has a name, a value, and a type. The type globally
00078 # indicates whether it is a prior parameter (prior to model fitting),
00079 # or a model parameter (found during model fitting, using a maximum-
00080 # likelihood estimator), or a cached evaluation (e.g., the likelihood
00081 # or the BIC are a typical "side"-product of model estimation, and
00082 # can therefore already be cached).
00083 #
00084 # For a list of currently used parameters, see the documentation at
00085 # http://www.ros.org/wiki/articulation_models
00086 #
00087 
00088 uint8 PRIOR=0   # indicates a prior model parameter 
00089                 # (e.g., "sigma_position")
00090 uint8 PARAM=1   # indicates a estimated model parameter 
00091                 # (e.g., "rot_radius", the estimated radius)
00092 uint8 EVAL=2    # indicates a cached evaluation of the model, given 
00093                 # the current trajectory
00094                 # (e.g., "loglikelihood", the log likelihood of the
00095                 # data, given the model and its parameters)
00096 
00097 string name     # name of the parameter
00098 float64 value   # value of the parameter
00099 uint8 type      # type of the parameter (PRIOR, PARAM, EVAL)
00100 
00101 
00102 ================================================================================
00103 MSG: articulation_msgs/TrackMsg
00104 # Single kinematic trajectory
00105 #
00106 # This message contains a kinematic trajectory. The trajectory is specified
00107 # as a vector of 6D poses. An additional flag, track_type, indicates whether
00108 # the track is valid, and whether it includes orientation. The track id
00109 # can be used for automatic coloring in the RVIZ track plugin, and can be 
00110 # freely chosen by the client. 
00111 #
00112 # A model is fitting only from the trajectory stored in the pose[]-vector. 
00113 # Additional information may be associated to each pose using the channels
00114 # vector, with arbitrary # fields (e.g., to include applied/measured forces). 
00115 #
00116 # After model evaluation,
00117 # also the associated configurations of the object are stored in the channels,
00118 # named "q[0]".."q[DOF-1]", where DOF is the number of degrees of freedom.
00119 # Model evaluation also projects the poses in the pose vector onto the model,
00120 # and stores these ideal poses in the vector pose_projected. Further, during model
00121 # evaluation, a new set of (uniform) configurations over the valid configuration
00122 # range is sampled, and the result is stored in pose_resampled.
00123 # The vector pose_flags contains additional display flags for the poses in the
00124 # pose vector, for example, whether a pose is visible and/or
00125 # the end of a trajectory segment. At the moment, this is only used by the
00126 # prior_model_learner.
00127 #
00128 
00129 Header header                           # Timestamp and frame
00130 int32 id                                # used-specified track id
00131 
00132 geometry_msgs/Pose[] pose               # sequence of poses, defining the observed trajectory
00133 geometry_msgs/Pose[] pose_projected     # sequence of poses, projected to the model 
00134                                         # (after model evaluation)
00135 geometry_msgs/Pose[] pose_resampled     # sequence of poses, re-sampled from the model in
00136                                         # the valid configuration range
00137 uint32[] pose_flags                     # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT
00138 
00139 uint32 POSE_VISIBLE=1
00140 uint32 POSE_END_OF_SEGMENT=2
00141 
00142 # Each channel should have the same number of elements as pose array, 
00143 # and the data in each channel should correspond 1:1 with each pose
00144 # possible channels: "width", "height", "rgb", ...
00145 sensor_msgs/ChannelFloat32[] channels       
00146 
00147 
00148 
00149 ================================================================================
00150 MSG: geometry_msgs/Pose
00151 # A representation of pose in free space, composed of postion and orientation. 
00152 Point position
00153 Quaternion orientation
00154 
00155 ================================================================================
00156 MSG: geometry_msgs/Point
00157 # This contains the position of a point in free space
00158 float64 x
00159 float64 y
00160 float64 z
00161 
00162 ================================================================================
00163 MSG: geometry_msgs/Quaternion
00164 # This represents an orientation in free space in quaternion form.
00165 
00166 float64 x
00167 float64 y
00168 float64 z
00169 float64 w
00170 
00171 ================================================================================
00172 MSG: sensor_msgs/ChannelFloat32
00173 # This message is used by the PointCloud message to hold optional data
00174 # associated with each point in the cloud. The length of the values
00175 # array should be the same as the length of the points array in the
00176 # PointCloud, and each value should be associated with the corresponding
00177 # point.
00178 
00179 # Channel names in existing practice include:
00180 #   "u", "v" - row and column (respectively) in the left stereo image.
00181 #              This is opposite to usual conventions but remains for
00182 #              historical reasons. The newer PointCloud2 message has no
00183 #              such problem.
00184 #   "rgb" - For point clouds produced by color stereo cameras. uint8
00185 #           (R,G,B) values packed into the least significant 24 bits,
00186 #           in order.
00187 #   "intensity" - laser or pixel intensity.
00188 #   "distance"
00189 
00190 # The channel name should give semantics of the channel (e.g.
00191 # "intensity" instead of "value").
00192 string name
00193 
00194 # The values array should be 1-1 with the elements of the associated
00195 # PointCloud.
00196 float32[] values
00197 
00198 """
00199   __slots__ = ['model','data']
00200   _slot_types = ['articulation_msgs/ModelMsg','articulation_msgs/ModelMsg']
00201 
00202   def __init__(self, *args, **kwds):
00203     """
00204     Constructor. Any message fields that are implicitly/explicitly
00205     set to None will be assigned a default value. The recommend
00206     use is keyword arguments as this is more robust to future message
00207     changes.  You cannot mix in-order arguments and keyword arguments.
00208     
00209     The available fields are:
00210        model,data
00211     
00212     @param args: complete set of field values, in .msg order
00213     @param kwds: use keyword arguments corresponding to message field names
00214     to set specific fields. 
00215     """
00216     if args or kwds:
00217       super(AlignModelSrvRequest, self).__init__(*args, **kwds)
00218       #message fields cannot be None, assign default values for those that are
00219       if self.model is None:
00220         self.model = articulation_msgs.msg.ModelMsg()
00221       if self.data is None:
00222         self.data = articulation_msgs.msg.ModelMsg()
00223     else:
00224       self.model = articulation_msgs.msg.ModelMsg()
00225       self.data = articulation_msgs.msg.ModelMsg()
00226 
00227   def _get_types(self):
00228     """
00229     internal API method
00230     """
00231     return self._slot_types
00232 
00233   def serialize(self, buff):
00234     """
00235     serialize message into buffer
00236     @param buff: buffer
00237     @type  buff: StringIO
00238     """
00239     try:
00240       _x = self
00241       buff.write(_struct_3I.pack(_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs))
00242       _x = self.model.header.frame_id
00243       length = len(_x)
00244       buff.write(struct.pack('<I%ss'%length, length, _x))
00245       buff.write(_struct_i.pack(self.model.id))
00246       _x = self.model.name
00247       length = len(_x)
00248       buff.write(struct.pack('<I%ss'%length, length, _x))
00249       length = len(self.model.params)
00250       buff.write(_struct_I.pack(length))
00251       for val1 in self.model.params:
00252         _x = val1.name
00253         length = len(_x)
00254         buff.write(struct.pack('<I%ss'%length, length, _x))
00255         _x = val1
00256         buff.write(_struct_dB.pack(_x.value, _x.type))
00257       _x = self
00258       buff.write(_struct_3I.pack(_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs))
00259       _x = self.model.track.header.frame_id
00260       length = len(_x)
00261       buff.write(struct.pack('<I%ss'%length, length, _x))
00262       buff.write(_struct_i.pack(self.model.track.id))
00263       length = len(self.model.track.pose)
00264       buff.write(_struct_I.pack(length))
00265       for val1 in self.model.track.pose:
00266         _v1 = val1.position
00267         _x = _v1
00268         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00269         _v2 = val1.orientation
00270         _x = _v2
00271         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00272       length = len(self.model.track.pose_projected)
00273       buff.write(_struct_I.pack(length))
00274       for val1 in self.model.track.pose_projected:
00275         _v3 = val1.position
00276         _x = _v3
00277         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00278         _v4 = val1.orientation
00279         _x = _v4
00280         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00281       length = len(self.model.track.pose_resampled)
00282       buff.write(_struct_I.pack(length))
00283       for val1 in self.model.track.pose_resampled:
00284         _v5 = val1.position
00285         _x = _v5
00286         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00287         _v6 = val1.orientation
00288         _x = _v6
00289         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00290       length = len(self.model.track.pose_flags)
00291       buff.write(_struct_I.pack(length))
00292       pattern = '<%sI'%length
00293       buff.write(struct.pack(pattern, *self.model.track.pose_flags))
00294       length = len(self.model.track.channels)
00295       buff.write(_struct_I.pack(length))
00296       for val1 in self.model.track.channels:
00297         _x = val1.name
00298         length = len(_x)
00299         buff.write(struct.pack('<I%ss'%length, length, _x))
00300         length = len(val1.values)
00301         buff.write(_struct_I.pack(length))
00302         pattern = '<%sf'%length
00303         buff.write(struct.pack(pattern, *val1.values))
00304       _x = self
00305       buff.write(_struct_3I.pack(_x.data.header.seq, _x.data.header.stamp.secs, _x.data.header.stamp.nsecs))
00306       _x = self.data.header.frame_id
00307       length = len(_x)
00308       buff.write(struct.pack('<I%ss'%length, length, _x))
00309       buff.write(_struct_i.pack(self.data.id))
00310       _x = self.data.name
00311       length = len(_x)
00312       buff.write(struct.pack('<I%ss'%length, length, _x))
00313       length = len(self.data.params)
00314       buff.write(_struct_I.pack(length))
00315       for val1 in self.data.params:
00316         _x = val1.name
00317         length = len(_x)
00318         buff.write(struct.pack('<I%ss'%length, length, _x))
00319         _x = val1
00320         buff.write(_struct_dB.pack(_x.value, _x.type))
00321       _x = self
00322       buff.write(_struct_3I.pack(_x.data.track.header.seq, _x.data.track.header.stamp.secs, _x.data.track.header.stamp.nsecs))
00323       _x = self.data.track.header.frame_id
00324       length = len(_x)
00325       buff.write(struct.pack('<I%ss'%length, length, _x))
00326       buff.write(_struct_i.pack(self.data.track.id))
00327       length = len(self.data.track.pose)
00328       buff.write(_struct_I.pack(length))
00329       for val1 in self.data.track.pose:
00330         _v7 = val1.position
00331         _x = _v7
00332         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00333         _v8 = val1.orientation
00334         _x = _v8
00335         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00336       length = len(self.data.track.pose_projected)
00337       buff.write(_struct_I.pack(length))
00338       for val1 in self.data.track.pose_projected:
00339         _v9 = val1.position
00340         _x = _v9
00341         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00342         _v10 = val1.orientation
00343         _x = _v10
00344         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00345       length = len(self.data.track.pose_resampled)
00346       buff.write(_struct_I.pack(length))
00347       for val1 in self.data.track.pose_resampled:
00348         _v11 = val1.position
00349         _x = _v11
00350         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00351         _v12 = val1.orientation
00352         _x = _v12
00353         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00354       length = len(self.data.track.pose_flags)
00355       buff.write(_struct_I.pack(length))
00356       pattern = '<%sI'%length
00357       buff.write(struct.pack(pattern, *self.data.track.pose_flags))
00358       length = len(self.data.track.channels)
00359       buff.write(_struct_I.pack(length))
00360       for val1 in self.data.track.channels:
00361         _x = val1.name
00362         length = len(_x)
00363         buff.write(struct.pack('<I%ss'%length, length, _x))
00364         length = len(val1.values)
00365         buff.write(_struct_I.pack(length))
00366         pattern = '<%sf'%length
00367         buff.write(struct.pack(pattern, *val1.values))
00368     except struct.error, se: self._check_types(se)
00369     except TypeError, te: self._check_types(te)
00370 
00371   def deserialize(self, str):
00372     """
00373     unpack serialized message in str into this message instance
00374     @param str: byte array of serialized message
00375     @type  str: str
00376     """
00377     try:
00378       if self.model is None:
00379         self.model = articulation_msgs.msg.ModelMsg()
00380       if self.data is None:
00381         self.data = articulation_msgs.msg.ModelMsg()
00382       end = 0
00383       _x = self
00384       start = end
00385       end += 12
00386       (_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00387       start = end
00388       end += 4
00389       (length,) = _struct_I.unpack(str[start:end])
00390       start = end
00391       end += length
00392       self.model.header.frame_id = str[start:end]
00393       start = end
00394       end += 4
00395       (self.model.id,) = _struct_i.unpack(str[start:end])
00396       start = end
00397       end += 4
00398       (length,) = _struct_I.unpack(str[start:end])
00399       start = end
00400       end += length
00401       self.model.name = str[start:end]
00402       start = end
00403       end += 4
00404       (length,) = _struct_I.unpack(str[start:end])
00405       self.model.params = []
00406       for i in xrange(0, length):
00407         val1 = articulation_msgs.msg.ParamMsg()
00408         start = end
00409         end += 4
00410         (length,) = _struct_I.unpack(str[start:end])
00411         start = end
00412         end += length
00413         val1.name = str[start:end]
00414         _x = val1
00415         start = end
00416         end += 9
00417         (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
00418         self.model.params.append(val1)
00419       _x = self
00420       start = end
00421       end += 12
00422       (_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00423       start = end
00424       end += 4
00425       (length,) = _struct_I.unpack(str[start:end])
00426       start = end
00427       end += length
00428       self.model.track.header.frame_id = str[start:end]
00429       start = end
00430       end += 4
00431       (self.model.track.id,) = _struct_i.unpack(str[start:end])
00432       start = end
00433       end += 4
00434       (length,) = _struct_I.unpack(str[start:end])
00435       self.model.track.pose = []
00436       for i in xrange(0, length):
00437         val1 = geometry_msgs.msg.Pose()
00438         _v13 = val1.position
00439         _x = _v13
00440         start = end
00441         end += 24
00442         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00443         _v14 = val1.orientation
00444         _x = _v14
00445         start = end
00446         end += 32
00447         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00448         self.model.track.pose.append(val1)
00449       start = end
00450       end += 4
00451       (length,) = _struct_I.unpack(str[start:end])
00452       self.model.track.pose_projected = []
00453       for i in xrange(0, length):
00454         val1 = geometry_msgs.msg.Pose()
00455         _v15 = val1.position
00456         _x = _v15
00457         start = end
00458         end += 24
00459         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00460         _v16 = val1.orientation
00461         _x = _v16
00462         start = end
00463         end += 32
00464         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00465         self.model.track.pose_projected.append(val1)
00466       start = end
00467       end += 4
00468       (length,) = _struct_I.unpack(str[start:end])
00469       self.model.track.pose_resampled = []
00470       for i in xrange(0, length):
00471         val1 = geometry_msgs.msg.Pose()
00472         _v17 = val1.position
00473         _x = _v17
00474         start = end
00475         end += 24
00476         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00477         _v18 = val1.orientation
00478         _x = _v18
00479         start = end
00480         end += 32
00481         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00482         self.model.track.pose_resampled.append(val1)
00483       start = end
00484       end += 4
00485       (length,) = _struct_I.unpack(str[start:end])
00486       pattern = '<%sI'%length
00487       start = end
00488       end += struct.calcsize(pattern)
00489       self.model.track.pose_flags = struct.unpack(pattern, str[start:end])
00490       start = end
00491       end += 4
00492       (length,) = _struct_I.unpack(str[start:end])
00493       self.model.track.channels = []
00494       for i in xrange(0, length):
00495         val1 = sensor_msgs.msg.ChannelFloat32()
00496         start = end
00497         end += 4
00498         (length,) = _struct_I.unpack(str[start:end])
00499         start = end
00500         end += length
00501         val1.name = str[start:end]
00502         start = end
00503         end += 4
00504         (length,) = _struct_I.unpack(str[start:end])
00505         pattern = '<%sf'%length
00506         start = end
00507         end += struct.calcsize(pattern)
00508         val1.values = struct.unpack(pattern, str[start:end])
00509         self.model.track.channels.append(val1)
00510       _x = self
00511       start = end
00512       end += 12
00513       (_x.data.header.seq, _x.data.header.stamp.secs, _x.data.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00514       start = end
00515       end += 4
00516       (length,) = _struct_I.unpack(str[start:end])
00517       start = end
00518       end += length
00519       self.data.header.frame_id = str[start:end]
00520       start = end
00521       end += 4
00522       (self.data.id,) = _struct_i.unpack(str[start:end])
00523       start = end
00524       end += 4
00525       (length,) = _struct_I.unpack(str[start:end])
00526       start = end
00527       end += length
00528       self.data.name = str[start:end]
00529       start = end
00530       end += 4
00531       (length,) = _struct_I.unpack(str[start:end])
00532       self.data.params = []
00533       for i in xrange(0, length):
00534         val1 = articulation_msgs.msg.ParamMsg()
00535         start = end
00536         end += 4
00537         (length,) = _struct_I.unpack(str[start:end])
00538         start = end
00539         end += length
00540         val1.name = str[start:end]
00541         _x = val1
00542         start = end
00543         end += 9
00544         (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
00545         self.data.params.append(val1)
00546       _x = self
00547       start = end
00548       end += 12
00549       (_x.data.track.header.seq, _x.data.track.header.stamp.secs, _x.data.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00550       start = end
00551       end += 4
00552       (length,) = _struct_I.unpack(str[start:end])
00553       start = end
00554       end += length
00555       self.data.track.header.frame_id = str[start:end]
00556       start = end
00557       end += 4
00558       (self.data.track.id,) = _struct_i.unpack(str[start:end])
00559       start = end
00560       end += 4
00561       (length,) = _struct_I.unpack(str[start:end])
00562       self.data.track.pose = []
00563       for i in xrange(0, length):
00564         val1 = geometry_msgs.msg.Pose()
00565         _v19 = val1.position
00566         _x = _v19
00567         start = end
00568         end += 24
00569         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00570         _v20 = val1.orientation
00571         _x = _v20
00572         start = end
00573         end += 32
00574         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00575         self.data.track.pose.append(val1)
00576       start = end
00577       end += 4
00578       (length,) = _struct_I.unpack(str[start:end])
00579       self.data.track.pose_projected = []
00580       for i in xrange(0, length):
00581         val1 = geometry_msgs.msg.Pose()
00582         _v21 = val1.position
00583         _x = _v21
00584         start = end
00585         end += 24
00586         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00587         _v22 = val1.orientation
00588         _x = _v22
00589         start = end
00590         end += 32
00591         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00592         self.data.track.pose_projected.append(val1)
00593       start = end
00594       end += 4
00595       (length,) = _struct_I.unpack(str[start:end])
00596       self.data.track.pose_resampled = []
00597       for i in xrange(0, length):
00598         val1 = geometry_msgs.msg.Pose()
00599         _v23 = val1.position
00600         _x = _v23
00601         start = end
00602         end += 24
00603         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00604         _v24 = val1.orientation
00605         _x = _v24
00606         start = end
00607         end += 32
00608         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00609         self.data.track.pose_resampled.append(val1)
00610       start = end
00611       end += 4
00612       (length,) = _struct_I.unpack(str[start:end])
00613       pattern = '<%sI'%length
00614       start = end
00615       end += struct.calcsize(pattern)
00616       self.data.track.pose_flags = struct.unpack(pattern, str[start:end])
00617       start = end
00618       end += 4
00619       (length,) = _struct_I.unpack(str[start:end])
00620       self.data.track.channels = []
00621       for i in xrange(0, length):
00622         val1 = sensor_msgs.msg.ChannelFloat32()
00623         start = end
00624         end += 4
00625         (length,) = _struct_I.unpack(str[start:end])
00626         start = end
00627         end += length
00628         val1.name = str[start:end]
00629         start = end
00630         end += 4
00631         (length,) = _struct_I.unpack(str[start:end])
00632         pattern = '<%sf'%length
00633         start = end
00634         end += struct.calcsize(pattern)
00635         val1.values = struct.unpack(pattern, str[start:end])
00636         self.data.track.channels.append(val1)
00637       return self
00638     except struct.error, e:
00639       raise roslib.message.DeserializationError(e) #most likely buffer underfill
00640 
00641 
00642   def serialize_numpy(self, buff, numpy):
00643     """
00644     serialize message with numpy array types into buffer
00645     @param buff: buffer
00646     @type  buff: StringIO
00647     @param numpy: numpy python module
00648     @type  numpy module
00649     """
00650     try:
00651       _x = self
00652       buff.write(_struct_3I.pack(_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs))
00653       _x = self.model.header.frame_id
00654       length = len(_x)
00655       buff.write(struct.pack('<I%ss'%length, length, _x))
00656       buff.write(_struct_i.pack(self.model.id))
00657       _x = self.model.name
00658       length = len(_x)
00659       buff.write(struct.pack('<I%ss'%length, length, _x))
00660       length = len(self.model.params)
00661       buff.write(_struct_I.pack(length))
00662       for val1 in self.model.params:
00663         _x = val1.name
00664         length = len(_x)
00665         buff.write(struct.pack('<I%ss'%length, length, _x))
00666         _x = val1
00667         buff.write(_struct_dB.pack(_x.value, _x.type))
00668       _x = self
00669       buff.write(_struct_3I.pack(_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs))
00670       _x = self.model.track.header.frame_id
00671       length = len(_x)
00672       buff.write(struct.pack('<I%ss'%length, length, _x))
00673       buff.write(_struct_i.pack(self.model.track.id))
00674       length = len(self.model.track.pose)
00675       buff.write(_struct_I.pack(length))
00676       for val1 in self.model.track.pose:
00677         _v25 = val1.position
00678         _x = _v25
00679         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00680         _v26 = val1.orientation
00681         _x = _v26
00682         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00683       length = len(self.model.track.pose_projected)
00684       buff.write(_struct_I.pack(length))
00685       for val1 in self.model.track.pose_projected:
00686         _v27 = val1.position
00687         _x = _v27
00688         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00689         _v28 = val1.orientation
00690         _x = _v28
00691         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00692       length = len(self.model.track.pose_resampled)
00693       buff.write(_struct_I.pack(length))
00694       for val1 in self.model.track.pose_resampled:
00695         _v29 = val1.position
00696         _x = _v29
00697         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00698         _v30 = val1.orientation
00699         _x = _v30
00700         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00701       length = len(self.model.track.pose_flags)
00702       buff.write(_struct_I.pack(length))
00703       pattern = '<%sI'%length
00704       buff.write(self.model.track.pose_flags.tostring())
00705       length = len(self.model.track.channels)
00706       buff.write(_struct_I.pack(length))
00707       for val1 in self.model.track.channels:
00708         _x = val1.name
00709         length = len(_x)
00710         buff.write(struct.pack('<I%ss'%length, length, _x))
00711         length = len(val1.values)
00712         buff.write(_struct_I.pack(length))
00713         pattern = '<%sf'%length
00714         buff.write(val1.values.tostring())
00715       _x = self
00716       buff.write(_struct_3I.pack(_x.data.header.seq, _x.data.header.stamp.secs, _x.data.header.stamp.nsecs))
00717       _x = self.data.header.frame_id
00718       length = len(_x)
00719       buff.write(struct.pack('<I%ss'%length, length, _x))
00720       buff.write(_struct_i.pack(self.data.id))
00721       _x = self.data.name
00722       length = len(_x)
00723       buff.write(struct.pack('<I%ss'%length, length, _x))
00724       length = len(self.data.params)
00725       buff.write(_struct_I.pack(length))
00726       for val1 in self.data.params:
00727         _x = val1.name
00728         length = len(_x)
00729         buff.write(struct.pack('<I%ss'%length, length, _x))
00730         _x = val1
00731         buff.write(_struct_dB.pack(_x.value, _x.type))
00732       _x = self
00733       buff.write(_struct_3I.pack(_x.data.track.header.seq, _x.data.track.header.stamp.secs, _x.data.track.header.stamp.nsecs))
00734       _x = self.data.track.header.frame_id
00735       length = len(_x)
00736       buff.write(struct.pack('<I%ss'%length, length, _x))
00737       buff.write(_struct_i.pack(self.data.track.id))
00738       length = len(self.data.track.pose)
00739       buff.write(_struct_I.pack(length))
00740       for val1 in self.data.track.pose:
00741         _v31 = val1.position
00742         _x = _v31
00743         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00744         _v32 = val1.orientation
00745         _x = _v32
00746         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00747       length = len(self.data.track.pose_projected)
00748       buff.write(_struct_I.pack(length))
00749       for val1 in self.data.track.pose_projected:
00750         _v33 = val1.position
00751         _x = _v33
00752         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00753         _v34 = val1.orientation
00754         _x = _v34
00755         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00756       length = len(self.data.track.pose_resampled)
00757       buff.write(_struct_I.pack(length))
00758       for val1 in self.data.track.pose_resampled:
00759         _v35 = val1.position
00760         _x = _v35
00761         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00762         _v36 = val1.orientation
00763         _x = _v36
00764         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00765       length = len(self.data.track.pose_flags)
00766       buff.write(_struct_I.pack(length))
00767       pattern = '<%sI'%length
00768       buff.write(self.data.track.pose_flags.tostring())
00769       length = len(self.data.track.channels)
00770       buff.write(_struct_I.pack(length))
00771       for val1 in self.data.track.channels:
00772         _x = val1.name
00773         length = len(_x)
00774         buff.write(struct.pack('<I%ss'%length, length, _x))
00775         length = len(val1.values)
00776         buff.write(_struct_I.pack(length))
00777         pattern = '<%sf'%length
00778         buff.write(val1.values.tostring())
00779     except struct.error, se: self._check_types(se)
00780     except TypeError, te: self._check_types(te)
00781 
00782   def deserialize_numpy(self, str, numpy):
00783     """
00784     unpack serialized message in str into this message instance using numpy for array types
00785     @param str: byte array of serialized message
00786     @type  str: str
00787     @param numpy: numpy python module
00788     @type  numpy: module
00789     """
00790     try:
00791       if self.model is None:
00792         self.model = articulation_msgs.msg.ModelMsg()
00793       if self.data is None:
00794         self.data = articulation_msgs.msg.ModelMsg()
00795       end = 0
00796       _x = self
00797       start = end
00798       end += 12
00799       (_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00800       start = end
00801       end += 4
00802       (length,) = _struct_I.unpack(str[start:end])
00803       start = end
00804       end += length
00805       self.model.header.frame_id = str[start:end]
00806       start = end
00807       end += 4
00808       (self.model.id,) = _struct_i.unpack(str[start:end])
00809       start = end
00810       end += 4
00811       (length,) = _struct_I.unpack(str[start:end])
00812       start = end
00813       end += length
00814       self.model.name = str[start:end]
00815       start = end
00816       end += 4
00817       (length,) = _struct_I.unpack(str[start:end])
00818       self.model.params = []
00819       for i in xrange(0, length):
00820         val1 = articulation_msgs.msg.ParamMsg()
00821         start = end
00822         end += 4
00823         (length,) = _struct_I.unpack(str[start:end])
00824         start = end
00825         end += length
00826         val1.name = str[start:end]
00827         _x = val1
00828         start = end
00829         end += 9
00830         (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
00831         self.model.params.append(val1)
00832       _x = self
00833       start = end
00834       end += 12
00835       (_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00836       start = end
00837       end += 4
00838       (length,) = _struct_I.unpack(str[start:end])
00839       start = end
00840       end += length
00841       self.model.track.header.frame_id = str[start:end]
00842       start = end
00843       end += 4
00844       (self.model.track.id,) = _struct_i.unpack(str[start:end])
00845       start = end
00846       end += 4
00847       (length,) = _struct_I.unpack(str[start:end])
00848       self.model.track.pose = []
00849       for i in xrange(0, length):
00850         val1 = geometry_msgs.msg.Pose()
00851         _v37 = val1.position
00852         _x = _v37
00853         start = end
00854         end += 24
00855         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00856         _v38 = val1.orientation
00857         _x = _v38
00858         start = end
00859         end += 32
00860         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00861         self.model.track.pose.append(val1)
00862       start = end
00863       end += 4
00864       (length,) = _struct_I.unpack(str[start:end])
00865       self.model.track.pose_projected = []
00866       for i in xrange(0, length):
00867         val1 = geometry_msgs.msg.Pose()
00868         _v39 = val1.position
00869         _x = _v39
00870         start = end
00871         end += 24
00872         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00873         _v40 = val1.orientation
00874         _x = _v40
00875         start = end
00876         end += 32
00877         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00878         self.model.track.pose_projected.append(val1)
00879       start = end
00880       end += 4
00881       (length,) = _struct_I.unpack(str[start:end])
00882       self.model.track.pose_resampled = []
00883       for i in xrange(0, length):
00884         val1 = geometry_msgs.msg.Pose()
00885         _v41 = val1.position
00886         _x = _v41
00887         start = end
00888         end += 24
00889         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00890         _v42 = val1.orientation
00891         _x = _v42
00892         start = end
00893         end += 32
00894         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00895         self.model.track.pose_resampled.append(val1)
00896       start = end
00897       end += 4
00898       (length,) = _struct_I.unpack(str[start:end])
00899       pattern = '<%sI'%length
00900       start = end
00901       end += struct.calcsize(pattern)
00902       self.model.track.pose_flags = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
00903       start = end
00904       end += 4
00905       (length,) = _struct_I.unpack(str[start:end])
00906       self.model.track.channels = []
00907       for i in xrange(0, length):
00908         val1 = sensor_msgs.msg.ChannelFloat32()
00909         start = end
00910         end += 4
00911         (length,) = _struct_I.unpack(str[start:end])
00912         start = end
00913         end += length
00914         val1.name = str[start:end]
00915         start = end
00916         end += 4
00917         (length,) = _struct_I.unpack(str[start:end])
00918         pattern = '<%sf'%length
00919         start = end
00920         end += struct.calcsize(pattern)
00921         val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00922         self.model.track.channels.append(val1)
00923       _x = self
00924       start = end
00925       end += 12
00926       (_x.data.header.seq, _x.data.header.stamp.secs, _x.data.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00927       start = end
00928       end += 4
00929       (length,) = _struct_I.unpack(str[start:end])
00930       start = end
00931       end += length
00932       self.data.header.frame_id = str[start:end]
00933       start = end
00934       end += 4
00935       (self.data.id,) = _struct_i.unpack(str[start:end])
00936       start = end
00937       end += 4
00938       (length,) = _struct_I.unpack(str[start:end])
00939       start = end
00940       end += length
00941       self.data.name = str[start:end]
00942       start = end
00943       end += 4
00944       (length,) = _struct_I.unpack(str[start:end])
00945       self.data.params = []
00946       for i in xrange(0, length):
00947         val1 = articulation_msgs.msg.ParamMsg()
00948         start = end
00949         end += 4
00950         (length,) = _struct_I.unpack(str[start:end])
00951         start = end
00952         end += length
00953         val1.name = str[start:end]
00954         _x = val1
00955         start = end
00956         end += 9
00957         (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
00958         self.data.params.append(val1)
00959       _x = self
00960       start = end
00961       end += 12
00962       (_x.data.track.header.seq, _x.data.track.header.stamp.secs, _x.data.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00963       start = end
00964       end += 4
00965       (length,) = _struct_I.unpack(str[start:end])
00966       start = end
00967       end += length
00968       self.data.track.header.frame_id = str[start:end]
00969       start = end
00970       end += 4
00971       (self.data.track.id,) = _struct_i.unpack(str[start:end])
00972       start = end
00973       end += 4
00974       (length,) = _struct_I.unpack(str[start:end])
00975       self.data.track.pose = []
00976       for i in xrange(0, length):
00977         val1 = geometry_msgs.msg.Pose()
00978         _v43 = val1.position
00979         _x = _v43
00980         start = end
00981         end += 24
00982         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00983         _v44 = val1.orientation
00984         _x = _v44
00985         start = end
00986         end += 32
00987         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00988         self.data.track.pose.append(val1)
00989       start = end
00990       end += 4
00991       (length,) = _struct_I.unpack(str[start:end])
00992       self.data.track.pose_projected = []
00993       for i in xrange(0, length):
00994         val1 = geometry_msgs.msg.Pose()
00995         _v45 = val1.position
00996         _x = _v45
00997         start = end
00998         end += 24
00999         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01000         _v46 = val1.orientation
01001         _x = _v46
01002         start = end
01003         end += 32
01004         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01005         self.data.track.pose_projected.append(val1)
01006       start = end
01007       end += 4
01008       (length,) = _struct_I.unpack(str[start:end])
01009       self.data.track.pose_resampled = []
01010       for i in xrange(0, length):
01011         val1 = geometry_msgs.msg.Pose()
01012         _v47 = val1.position
01013         _x = _v47
01014         start = end
01015         end += 24
01016         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01017         _v48 = val1.orientation
01018         _x = _v48
01019         start = end
01020         end += 32
01021         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01022         self.data.track.pose_resampled.append(val1)
01023       start = end
01024       end += 4
01025       (length,) = _struct_I.unpack(str[start:end])
01026       pattern = '<%sI'%length
01027       start = end
01028       end += struct.calcsize(pattern)
01029       self.data.track.pose_flags = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
01030       start = end
01031       end += 4
01032       (length,) = _struct_I.unpack(str[start:end])
01033       self.data.track.channels = []
01034       for i in xrange(0, length):
01035         val1 = sensor_msgs.msg.ChannelFloat32()
01036         start = end
01037         end += 4
01038         (length,) = _struct_I.unpack(str[start:end])
01039         start = end
01040         end += length
01041         val1.name = str[start:end]
01042         start = end
01043         end += 4
01044         (length,) = _struct_I.unpack(str[start:end])
01045         pattern = '<%sf'%length
01046         start = end
01047         end += struct.calcsize(pattern)
01048         val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
01049         self.data.track.channels.append(val1)
01050       return self
01051     except struct.error, e:
01052       raise roslib.message.DeserializationError(e) #most likely buffer underfill
01053 
01054 _struct_I = roslib.message.struct_I
01055 _struct_i = struct.Struct("<i")
01056 _struct_3I = struct.Struct("<3I")
01057 _struct_dB = struct.Struct("<dB")
01058 _struct_4d = struct.Struct("<4d")
01059 _struct_3d = struct.Struct("<3d")
01060 """autogenerated by genmsg_py from AlignModelSrvResponse.msg. Do not edit."""
01061 import roslib.message
01062 import struct
01063 
01064 import sensor_msgs.msg
01065 import geometry_msgs.msg
01066 import articulation_msgs.msg
01067 import std_msgs.msg
01068 
01069 class AlignModelSrvResponse(roslib.message.Message):
01070   _md5sum = "bf4815f3efa4d7f5c033d2485524a4e6"
01071   _type = "articulation_msgs/AlignModelSrvResponse"
01072   _has_header = False #flag to mark the presence of a Header object
01073   _full_text = """articulation_msgs/ModelMsg model_aligned
01074 
01075 
01076 articulation_msgs/ModelMsg data_aligned
01077 
01078 
01079 float64[9] R
01080 float64[3] T
01081 float64 dist_rot
01082 float32 dist_trans
01083 
01084 
01085 
01086 ================================================================================
01087 MSG: articulation_msgs/ModelMsg
01088 # Single kinematic model
01089 #
01090 # A kinematic model is defined by its model class name, and a set of parameters. 
01091 # The client may additionally specify a model id, that can be used to colorize the
01092 # model when visualized using the RVIZ model display.
01093 # 
01094 # For a list of currently implemented models, see the documetation at
01095 # http://www.ros.org/wiki/articulation_models
01096 #
01097 #
01098 
01099 Header header                        # frame and timestamp
01100 
01101 int32 id                             # user specified model id
01102 string name                          # name of the model family (e.g. "rotational",
01103                                      # "prismatic", "pca-gp", "rigid")
01104 articulation_msgs/ParamMsg[] params  # model parameters
01105 articulation_msgs/TrackMsg track     # trajectory from which the model is estimated, or
01106                                      # that is evaluated using the model
01107 
01108 ================================================================================
01109 MSG: std_msgs/Header
01110 # Standard metadata for higher-level stamped data types.
01111 # This is generally used to communicate timestamped data 
01112 # in a particular coordinate frame.
01113 # 
01114 # sequence ID: consecutively increasing ID 
01115 uint32 seq
01116 #Two-integer timestamp that is expressed as:
01117 # * stamp.secs: seconds (stamp_secs) since epoch
01118 # * stamp.nsecs: nanoseconds since stamp_secs
01119 # time-handling sugar is provided by the client library
01120 time stamp
01121 #Frame this data is associated with
01122 # 0: no frame
01123 # 1: global frame
01124 string frame_id
01125 
01126 ================================================================================
01127 MSG: articulation_msgs/ParamMsg
01128 # Single parameter passed to or from model fitting
01129 #
01130 # This mechanism allows to flexibly pass parameters to 
01131 # model fitting (and vice versa). Note that these parameters 
01132 # are model-specific: A client may supply additional
01133 # parameters to the model estimator, and, similarly, a estimator
01134 # may add the estimated model parameters to the model message.
01135 # When the model is then evaluated, for example to make predictions
01136 # or to compute the likelihood, the model class can then use
01137 # these parameters.
01138 #
01139 # A parameter has a name, a value, and a type. The type globally
01140 # indicates whether it is a prior parameter (prior to model fitting),
01141 # or a model parameter (found during model fitting, using a maximum-
01142 # likelihood estimator), or a cached evaluation (e.g., the likelihood
01143 # or the BIC are a typical "side"-product of model estimation, and
01144 # can therefore already be cached).
01145 #
01146 # For a list of currently used parameters, see the documentation at
01147 # http://www.ros.org/wiki/articulation_models
01148 #
01149 
01150 uint8 PRIOR=0   # indicates a prior model parameter 
01151                 # (e.g., "sigma_position")
01152 uint8 PARAM=1   # indicates a estimated model parameter 
01153                 # (e.g., "rot_radius", the estimated radius)
01154 uint8 EVAL=2    # indicates a cached evaluation of the model, given 
01155                 # the current trajectory
01156                 # (e.g., "loglikelihood", the log likelihood of the
01157                 # data, given the model and its parameters)
01158 
01159 string name     # name of the parameter
01160 float64 value   # value of the parameter
01161 uint8 type      # type of the parameter (PRIOR, PARAM, EVAL)
01162 
01163 
01164 ================================================================================
01165 MSG: articulation_msgs/TrackMsg
01166 # Single kinematic trajectory
01167 #
01168 # This message contains a kinematic trajectory. The trajectory is specified
01169 # as a vector of 6D poses. An additional flag, track_type, indicates whether
01170 # the track is valid, and whether it includes orientation. The track id
01171 # can be used for automatic coloring in the RVIZ track plugin, and can be 
01172 # freely chosen by the client. 
01173 #
01174 # A model is fitting only from the trajectory stored in the pose[]-vector. 
01175 # Additional information may be associated to each pose using the channels
01176 # vector, with arbitrary # fields (e.g., to include applied/measured forces). 
01177 #
01178 # After model evaluation,
01179 # also the associated configurations of the object are stored in the channels,
01180 # named "q[0]".."q[DOF-1]", where DOF is the number of degrees of freedom.
01181 # Model evaluation also projects the poses in the pose vector onto the model,
01182 # and stores these ideal poses in the vector pose_projected. Further, during model
01183 # evaluation, a new set of (uniform) configurations over the valid configuration
01184 # range is sampled, and the result is stored in pose_resampled.
01185 # The vector pose_flags contains additional display flags for the poses in the
01186 # pose vector, for example, whether a pose is visible and/or
01187 # the end of a trajectory segment. At the moment, this is only used by the
01188 # prior_model_learner.
01189 #
01190 
01191 Header header                           # Timestamp and frame
01192 int32 id                                # used-specified track id
01193 
01194 geometry_msgs/Pose[] pose               # sequence of poses, defining the observed trajectory
01195 geometry_msgs/Pose[] pose_projected     # sequence of poses, projected to the model 
01196                                         # (after model evaluation)
01197 geometry_msgs/Pose[] pose_resampled     # sequence of poses, re-sampled from the model in
01198                                         # the valid configuration range
01199 uint32[] pose_flags                     # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT
01200 
01201 uint32 POSE_VISIBLE=1
01202 uint32 POSE_END_OF_SEGMENT=2
01203 
01204 # Each channel should have the same number of elements as pose array, 
01205 # and the data in each channel should correspond 1:1 with each pose
01206 # possible channels: "width", "height", "rgb", ...
01207 sensor_msgs/ChannelFloat32[] channels       
01208 
01209 
01210 
01211 ================================================================================
01212 MSG: geometry_msgs/Pose
01213 # A representation of pose in free space, composed of postion and orientation. 
01214 Point position
01215 Quaternion orientation
01216 
01217 ================================================================================
01218 MSG: geometry_msgs/Point
01219 # This contains the position of a point in free space
01220 float64 x
01221 float64 y
01222 float64 z
01223 
01224 ================================================================================
01225 MSG: geometry_msgs/Quaternion
01226 # This represents an orientation in free space in quaternion form.
01227 
01228 float64 x
01229 float64 y
01230 float64 z
01231 float64 w
01232 
01233 ================================================================================
01234 MSG: sensor_msgs/ChannelFloat32
01235 # This message is used by the PointCloud message to hold optional data
01236 # associated with each point in the cloud. The length of the values
01237 # array should be the same as the length of the points array in the
01238 # PointCloud, and each value should be associated with the corresponding
01239 # point.
01240 
01241 # Channel names in existing practice include:
01242 #   "u", "v" - row and column (respectively) in the left stereo image.
01243 #              This is opposite to usual conventions but remains for
01244 #              historical reasons. The newer PointCloud2 message has no
01245 #              such problem.
01246 #   "rgb" - For point clouds produced by color stereo cameras. uint8
01247 #           (R,G,B) values packed into the least significant 24 bits,
01248 #           in order.
01249 #   "intensity" - laser or pixel intensity.
01250 #   "distance"
01251 
01252 # The channel name should give semantics of the channel (e.g.
01253 # "intensity" instead of "value").
01254 string name
01255 
01256 # The values array should be 1-1 with the elements of the associated
01257 # PointCloud.
01258 float32[] values
01259 
01260 """
01261   __slots__ = ['model_aligned','data_aligned','R','T','dist_rot','dist_trans']
01262   _slot_types = ['articulation_msgs/ModelMsg','articulation_msgs/ModelMsg','float64[9]','float64[3]','float64','float32']
01263 
01264   def __init__(self, *args, **kwds):
01265     """
01266     Constructor. Any message fields that are implicitly/explicitly
01267     set to None will be assigned a default value. The recommend
01268     use is keyword arguments as this is more robust to future message
01269     changes.  You cannot mix in-order arguments and keyword arguments.
01270     
01271     The available fields are:
01272        model_aligned,data_aligned,R,T,dist_rot,dist_trans
01273     
01274     @param args: complete set of field values, in .msg order
01275     @param kwds: use keyword arguments corresponding to message field names
01276     to set specific fields. 
01277     """
01278     if args or kwds:
01279       super(AlignModelSrvResponse, self).__init__(*args, **kwds)
01280       #message fields cannot be None, assign default values for those that are
01281       if self.model_aligned is None:
01282         self.model_aligned = articulation_msgs.msg.ModelMsg()
01283       if self.data_aligned is None:
01284         self.data_aligned = articulation_msgs.msg.ModelMsg()
01285       if self.R is None:
01286         self.R = [0.,0.,0.,0.,0.,0.,0.,0.,0.]
01287       if self.T is None:
01288         self.T = [0.,0.,0.]
01289       if self.dist_rot is None:
01290         self.dist_rot = 0.
01291       if self.dist_trans is None:
01292         self.dist_trans = 0.
01293     else:
01294       self.model_aligned = articulation_msgs.msg.ModelMsg()
01295       self.data_aligned = articulation_msgs.msg.ModelMsg()
01296       self.R = [0.,0.,0.,0.,0.,0.,0.,0.,0.]
01297       self.T = [0.,0.,0.]
01298       self.dist_rot = 0.
01299       self.dist_trans = 0.
01300 
01301   def _get_types(self):
01302     """
01303     internal API method
01304     """
01305     return self._slot_types
01306 
01307   def serialize(self, buff):
01308     """
01309     serialize message into buffer
01310     @param buff: buffer
01311     @type  buff: StringIO
01312     """
01313     try:
01314       _x = self
01315       buff.write(_struct_3I.pack(_x.model_aligned.header.seq, _x.model_aligned.header.stamp.secs, _x.model_aligned.header.stamp.nsecs))
01316       _x = self.model_aligned.header.frame_id
01317       length = len(_x)
01318       buff.write(struct.pack('<I%ss'%length, length, _x))
01319       buff.write(_struct_i.pack(self.model_aligned.id))
01320       _x = self.model_aligned.name
01321       length = len(_x)
01322       buff.write(struct.pack('<I%ss'%length, length, _x))
01323       length = len(self.model_aligned.params)
01324       buff.write(_struct_I.pack(length))
01325       for val1 in self.model_aligned.params:
01326         _x = val1.name
01327         length = len(_x)
01328         buff.write(struct.pack('<I%ss'%length, length, _x))
01329         _x = val1
01330         buff.write(_struct_dB.pack(_x.value, _x.type))
01331       _x = self
01332       buff.write(_struct_3I.pack(_x.model_aligned.track.header.seq, _x.model_aligned.track.header.stamp.secs, _x.model_aligned.track.header.stamp.nsecs))
01333       _x = self.model_aligned.track.header.frame_id
01334       length = len(_x)
01335       buff.write(struct.pack('<I%ss'%length, length, _x))
01336       buff.write(_struct_i.pack(self.model_aligned.track.id))
01337       length = len(self.model_aligned.track.pose)
01338       buff.write(_struct_I.pack(length))
01339       for val1 in self.model_aligned.track.pose:
01340         _v49 = val1.position
01341         _x = _v49
01342         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01343         _v50 = val1.orientation
01344         _x = _v50
01345         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01346       length = len(self.model_aligned.track.pose_projected)
01347       buff.write(_struct_I.pack(length))
01348       for val1 in self.model_aligned.track.pose_projected:
01349         _v51 = val1.position
01350         _x = _v51
01351         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01352         _v52 = val1.orientation
01353         _x = _v52
01354         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01355       length = len(self.model_aligned.track.pose_resampled)
01356       buff.write(_struct_I.pack(length))
01357       for val1 in self.model_aligned.track.pose_resampled:
01358         _v53 = val1.position
01359         _x = _v53
01360         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01361         _v54 = val1.orientation
01362         _x = _v54
01363         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01364       length = len(self.model_aligned.track.pose_flags)
01365       buff.write(_struct_I.pack(length))
01366       pattern = '<%sI'%length
01367       buff.write(struct.pack(pattern, *self.model_aligned.track.pose_flags))
01368       length = len(self.model_aligned.track.channels)
01369       buff.write(_struct_I.pack(length))
01370       for val1 in self.model_aligned.track.channels:
01371         _x = val1.name
01372         length = len(_x)
01373         buff.write(struct.pack('<I%ss'%length, length, _x))
01374         length = len(val1.values)
01375         buff.write(_struct_I.pack(length))
01376         pattern = '<%sf'%length
01377         buff.write(struct.pack(pattern, *val1.values))
01378       _x = self
01379       buff.write(_struct_3I.pack(_x.data_aligned.header.seq, _x.data_aligned.header.stamp.secs, _x.data_aligned.header.stamp.nsecs))
01380       _x = self.data_aligned.header.frame_id
01381       length = len(_x)
01382       buff.write(struct.pack('<I%ss'%length, length, _x))
01383       buff.write(_struct_i.pack(self.data_aligned.id))
01384       _x = self.data_aligned.name
01385       length = len(_x)
01386       buff.write(struct.pack('<I%ss'%length, length, _x))
01387       length = len(self.data_aligned.params)
01388       buff.write(_struct_I.pack(length))
01389       for val1 in self.data_aligned.params:
01390         _x = val1.name
01391         length = len(_x)
01392         buff.write(struct.pack('<I%ss'%length, length, _x))
01393         _x = val1
01394         buff.write(_struct_dB.pack(_x.value, _x.type))
01395       _x = self
01396       buff.write(_struct_3I.pack(_x.data_aligned.track.header.seq, _x.data_aligned.track.header.stamp.secs, _x.data_aligned.track.header.stamp.nsecs))
01397       _x = self.data_aligned.track.header.frame_id
01398       length = len(_x)
01399       buff.write(struct.pack('<I%ss'%length, length, _x))
01400       buff.write(_struct_i.pack(self.data_aligned.track.id))
01401       length = len(self.data_aligned.track.pose)
01402       buff.write(_struct_I.pack(length))
01403       for val1 in self.data_aligned.track.pose:
01404         _v55 = val1.position
01405         _x = _v55
01406         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01407         _v56 = val1.orientation
01408         _x = _v56
01409         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01410       length = len(self.data_aligned.track.pose_projected)
01411       buff.write(_struct_I.pack(length))
01412       for val1 in self.data_aligned.track.pose_projected:
01413         _v57 = val1.position
01414         _x = _v57
01415         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01416         _v58 = val1.orientation
01417         _x = _v58
01418         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01419       length = len(self.data_aligned.track.pose_resampled)
01420       buff.write(_struct_I.pack(length))
01421       for val1 in self.data_aligned.track.pose_resampled:
01422         _v59 = val1.position
01423         _x = _v59
01424         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01425         _v60 = val1.orientation
01426         _x = _v60
01427         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01428       length = len(self.data_aligned.track.pose_flags)
01429       buff.write(_struct_I.pack(length))
01430       pattern = '<%sI'%length
01431       buff.write(struct.pack(pattern, *self.data_aligned.track.pose_flags))
01432       length = len(self.data_aligned.track.channels)
01433       buff.write(_struct_I.pack(length))
01434       for val1 in self.data_aligned.track.channels:
01435         _x = val1.name
01436         length = len(_x)
01437         buff.write(struct.pack('<I%ss'%length, length, _x))
01438         length = len(val1.values)
01439         buff.write(_struct_I.pack(length))
01440         pattern = '<%sf'%length
01441         buff.write(struct.pack(pattern, *val1.values))
01442       buff.write(_struct_9d.pack(*self.R))
01443       buff.write(_struct_3d.pack(*self.T))
01444       _x = self
01445       buff.write(_struct_df.pack(_x.dist_rot, _x.dist_trans))
01446     except struct.error, se: self._check_types(se)
01447     except TypeError, te: self._check_types(te)
01448 
01449   def deserialize(self, str):
01450     """
01451     unpack serialized message in str into this message instance
01452     @param str: byte array of serialized message
01453     @type  str: str
01454     """
01455     try:
01456       if self.model_aligned is None:
01457         self.model_aligned = articulation_msgs.msg.ModelMsg()
01458       if self.data_aligned is None:
01459         self.data_aligned = articulation_msgs.msg.ModelMsg()
01460       end = 0
01461       _x = self
01462       start = end
01463       end += 12
01464       (_x.model_aligned.header.seq, _x.model_aligned.header.stamp.secs, _x.model_aligned.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01465       start = end
01466       end += 4
01467       (length,) = _struct_I.unpack(str[start:end])
01468       start = end
01469       end += length
01470       self.model_aligned.header.frame_id = str[start:end]
01471       start = end
01472       end += 4
01473       (self.model_aligned.id,) = _struct_i.unpack(str[start:end])
01474       start = end
01475       end += 4
01476       (length,) = _struct_I.unpack(str[start:end])
01477       start = end
01478       end += length
01479       self.model_aligned.name = str[start:end]
01480       start = end
01481       end += 4
01482       (length,) = _struct_I.unpack(str[start:end])
01483       self.model_aligned.params = []
01484       for i in xrange(0, length):
01485         val1 = articulation_msgs.msg.ParamMsg()
01486         start = end
01487         end += 4
01488         (length,) = _struct_I.unpack(str[start:end])
01489         start = end
01490         end += length
01491         val1.name = str[start:end]
01492         _x = val1
01493         start = end
01494         end += 9
01495         (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
01496         self.model_aligned.params.append(val1)
01497       _x = self
01498       start = end
01499       end += 12
01500       (_x.model_aligned.track.header.seq, _x.model_aligned.track.header.stamp.secs, _x.model_aligned.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01501       start = end
01502       end += 4
01503       (length,) = _struct_I.unpack(str[start:end])
01504       start = end
01505       end += length
01506       self.model_aligned.track.header.frame_id = str[start:end]
01507       start = end
01508       end += 4
01509       (self.model_aligned.track.id,) = _struct_i.unpack(str[start:end])
01510       start = end
01511       end += 4
01512       (length,) = _struct_I.unpack(str[start:end])
01513       self.model_aligned.track.pose = []
01514       for i in xrange(0, length):
01515         val1 = geometry_msgs.msg.Pose()
01516         _v61 = val1.position
01517         _x = _v61
01518         start = end
01519         end += 24
01520         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01521         _v62 = val1.orientation
01522         _x = _v62
01523         start = end
01524         end += 32
01525         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01526         self.model_aligned.track.pose.append(val1)
01527       start = end
01528       end += 4
01529       (length,) = _struct_I.unpack(str[start:end])
01530       self.model_aligned.track.pose_projected = []
01531       for i in xrange(0, length):
01532         val1 = geometry_msgs.msg.Pose()
01533         _v63 = val1.position
01534         _x = _v63
01535         start = end
01536         end += 24
01537         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01538         _v64 = val1.orientation
01539         _x = _v64
01540         start = end
01541         end += 32
01542         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01543         self.model_aligned.track.pose_projected.append(val1)
01544       start = end
01545       end += 4
01546       (length,) = _struct_I.unpack(str[start:end])
01547       self.model_aligned.track.pose_resampled = []
01548       for i in xrange(0, length):
01549         val1 = geometry_msgs.msg.Pose()
01550         _v65 = val1.position
01551         _x = _v65
01552         start = end
01553         end += 24
01554         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01555         _v66 = val1.orientation
01556         _x = _v66
01557         start = end
01558         end += 32
01559         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01560         self.model_aligned.track.pose_resampled.append(val1)
01561       start = end
01562       end += 4
01563       (length,) = _struct_I.unpack(str[start:end])
01564       pattern = '<%sI'%length
01565       start = end
01566       end += struct.calcsize(pattern)
01567       self.model_aligned.track.pose_flags = struct.unpack(pattern, str[start:end])
01568       start = end
01569       end += 4
01570       (length,) = _struct_I.unpack(str[start:end])
01571       self.model_aligned.track.channels = []
01572       for i in xrange(0, length):
01573         val1 = sensor_msgs.msg.ChannelFloat32()
01574         start = end
01575         end += 4
01576         (length,) = _struct_I.unpack(str[start:end])
01577         start = end
01578         end += length
01579         val1.name = str[start:end]
01580         start = end
01581         end += 4
01582         (length,) = _struct_I.unpack(str[start:end])
01583         pattern = '<%sf'%length
01584         start = end
01585         end += struct.calcsize(pattern)
01586         val1.values = struct.unpack(pattern, str[start:end])
01587         self.model_aligned.track.channels.append(val1)
01588       _x = self
01589       start = end
01590       end += 12
01591       (_x.data_aligned.header.seq, _x.data_aligned.header.stamp.secs, _x.data_aligned.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01592       start = end
01593       end += 4
01594       (length,) = _struct_I.unpack(str[start:end])
01595       start = end
01596       end += length
01597       self.data_aligned.header.frame_id = str[start:end]
01598       start = end
01599       end += 4
01600       (self.data_aligned.id,) = _struct_i.unpack(str[start:end])
01601       start = end
01602       end += 4
01603       (length,) = _struct_I.unpack(str[start:end])
01604       start = end
01605       end += length
01606       self.data_aligned.name = str[start:end]
01607       start = end
01608       end += 4
01609       (length,) = _struct_I.unpack(str[start:end])
01610       self.data_aligned.params = []
01611       for i in xrange(0, length):
01612         val1 = articulation_msgs.msg.ParamMsg()
01613         start = end
01614         end += 4
01615         (length,) = _struct_I.unpack(str[start:end])
01616         start = end
01617         end += length
01618         val1.name = str[start:end]
01619         _x = val1
01620         start = end
01621         end += 9
01622         (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
01623         self.data_aligned.params.append(val1)
01624       _x = self
01625       start = end
01626       end += 12
01627       (_x.data_aligned.track.header.seq, _x.data_aligned.track.header.stamp.secs, _x.data_aligned.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01628       start = end
01629       end += 4
01630       (length,) = _struct_I.unpack(str[start:end])
01631       start = end
01632       end += length
01633       self.data_aligned.track.header.frame_id = str[start:end]
01634       start = end
01635       end += 4
01636       (self.data_aligned.track.id,) = _struct_i.unpack(str[start:end])
01637       start = end
01638       end += 4
01639       (length,) = _struct_I.unpack(str[start:end])
01640       self.data_aligned.track.pose = []
01641       for i in xrange(0, length):
01642         val1 = geometry_msgs.msg.Pose()
01643         _v67 = val1.position
01644         _x = _v67
01645         start = end
01646         end += 24
01647         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01648         _v68 = val1.orientation
01649         _x = _v68
01650         start = end
01651         end += 32
01652         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01653         self.data_aligned.track.pose.append(val1)
01654       start = end
01655       end += 4
01656       (length,) = _struct_I.unpack(str[start:end])
01657       self.data_aligned.track.pose_projected = []
01658       for i in xrange(0, length):
01659         val1 = geometry_msgs.msg.Pose()
01660         _v69 = val1.position
01661         _x = _v69
01662         start = end
01663         end += 24
01664         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01665         _v70 = val1.orientation
01666         _x = _v70
01667         start = end
01668         end += 32
01669         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01670         self.data_aligned.track.pose_projected.append(val1)
01671       start = end
01672       end += 4
01673       (length,) = _struct_I.unpack(str[start:end])
01674       self.data_aligned.track.pose_resampled = []
01675       for i in xrange(0, length):
01676         val1 = geometry_msgs.msg.Pose()
01677         _v71 = val1.position
01678         _x = _v71
01679         start = end
01680         end += 24
01681         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01682         _v72 = val1.orientation
01683         _x = _v72
01684         start = end
01685         end += 32
01686         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01687         self.data_aligned.track.pose_resampled.append(val1)
01688       start = end
01689       end += 4
01690       (length,) = _struct_I.unpack(str[start:end])
01691       pattern = '<%sI'%length
01692       start = end
01693       end += struct.calcsize(pattern)
01694       self.data_aligned.track.pose_flags = struct.unpack(pattern, str[start:end])
01695       start = end
01696       end += 4
01697       (length,) = _struct_I.unpack(str[start:end])
01698       self.data_aligned.track.channels = []
01699       for i in xrange(0, length):
01700         val1 = sensor_msgs.msg.ChannelFloat32()
01701         start = end
01702         end += 4
01703         (length,) = _struct_I.unpack(str[start:end])
01704         start = end
01705         end += length
01706         val1.name = str[start:end]
01707         start = end
01708         end += 4
01709         (length,) = _struct_I.unpack(str[start:end])
01710         pattern = '<%sf'%length
01711         start = end
01712         end += struct.calcsize(pattern)
01713         val1.values = struct.unpack(pattern, str[start:end])
01714         self.data_aligned.track.channels.append(val1)
01715       start = end
01716       end += 72
01717       self.R = _struct_9d.unpack(str[start:end])
01718       start = end
01719       end += 24
01720       self.T = _struct_3d.unpack(str[start:end])
01721       _x = self
01722       start = end
01723       end += 12
01724       (_x.dist_rot, _x.dist_trans,) = _struct_df.unpack(str[start:end])
01725       return self
01726     except struct.error, e:
01727       raise roslib.message.DeserializationError(e) #most likely buffer underfill
01728 
01729 
01730   def serialize_numpy(self, buff, numpy):
01731     """
01732     serialize message with numpy array types into buffer
01733     @param buff: buffer
01734     @type  buff: StringIO
01735     @param numpy: numpy python module
01736     @type  numpy module
01737     """
01738     try:
01739       _x = self
01740       buff.write(_struct_3I.pack(_x.model_aligned.header.seq, _x.model_aligned.header.stamp.secs, _x.model_aligned.header.stamp.nsecs))
01741       _x = self.model_aligned.header.frame_id
01742       length = len(_x)
01743       buff.write(struct.pack('<I%ss'%length, length, _x))
01744       buff.write(_struct_i.pack(self.model_aligned.id))
01745       _x = self.model_aligned.name
01746       length = len(_x)
01747       buff.write(struct.pack('<I%ss'%length, length, _x))
01748       length = len(self.model_aligned.params)
01749       buff.write(_struct_I.pack(length))
01750       for val1 in self.model_aligned.params:
01751         _x = val1.name
01752         length = len(_x)
01753         buff.write(struct.pack('<I%ss'%length, length, _x))
01754         _x = val1
01755         buff.write(_struct_dB.pack(_x.value, _x.type))
01756       _x = self
01757       buff.write(_struct_3I.pack(_x.model_aligned.track.header.seq, _x.model_aligned.track.header.stamp.secs, _x.model_aligned.track.header.stamp.nsecs))
01758       _x = self.model_aligned.track.header.frame_id
01759       length = len(_x)
01760       buff.write(struct.pack('<I%ss'%length, length, _x))
01761       buff.write(_struct_i.pack(self.model_aligned.track.id))
01762       length = len(self.model_aligned.track.pose)
01763       buff.write(_struct_I.pack(length))
01764       for val1 in self.model_aligned.track.pose:
01765         _v73 = val1.position
01766         _x = _v73
01767         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01768         _v74 = val1.orientation
01769         _x = _v74
01770         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01771       length = len(self.model_aligned.track.pose_projected)
01772       buff.write(_struct_I.pack(length))
01773       for val1 in self.model_aligned.track.pose_projected:
01774         _v75 = val1.position
01775         _x = _v75
01776         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01777         _v76 = val1.orientation
01778         _x = _v76
01779         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01780       length = len(self.model_aligned.track.pose_resampled)
01781       buff.write(_struct_I.pack(length))
01782       for val1 in self.model_aligned.track.pose_resampled:
01783         _v77 = val1.position
01784         _x = _v77
01785         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01786         _v78 = val1.orientation
01787         _x = _v78
01788         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01789       length = len(self.model_aligned.track.pose_flags)
01790       buff.write(_struct_I.pack(length))
01791       pattern = '<%sI'%length
01792       buff.write(self.model_aligned.track.pose_flags.tostring())
01793       length = len(self.model_aligned.track.channels)
01794       buff.write(_struct_I.pack(length))
01795       for val1 in self.model_aligned.track.channels:
01796         _x = val1.name
01797         length = len(_x)
01798         buff.write(struct.pack('<I%ss'%length, length, _x))
01799         length = len(val1.values)
01800         buff.write(_struct_I.pack(length))
01801         pattern = '<%sf'%length
01802         buff.write(val1.values.tostring())
01803       _x = self
01804       buff.write(_struct_3I.pack(_x.data_aligned.header.seq, _x.data_aligned.header.stamp.secs, _x.data_aligned.header.stamp.nsecs))
01805       _x = self.data_aligned.header.frame_id
01806       length = len(_x)
01807       buff.write(struct.pack('<I%ss'%length, length, _x))
01808       buff.write(_struct_i.pack(self.data_aligned.id))
01809       _x = self.data_aligned.name
01810       length = len(_x)
01811       buff.write(struct.pack('<I%ss'%length, length, _x))
01812       length = len(self.data_aligned.params)
01813       buff.write(_struct_I.pack(length))
01814       for val1 in self.data_aligned.params:
01815         _x = val1.name
01816         length = len(_x)
01817         buff.write(struct.pack('<I%ss'%length, length, _x))
01818         _x = val1
01819         buff.write(_struct_dB.pack(_x.value, _x.type))
01820       _x = self
01821       buff.write(_struct_3I.pack(_x.data_aligned.track.header.seq, _x.data_aligned.track.header.stamp.secs, _x.data_aligned.track.header.stamp.nsecs))
01822       _x = self.data_aligned.track.header.frame_id
01823       length = len(_x)
01824       buff.write(struct.pack('<I%ss'%length, length, _x))
01825       buff.write(_struct_i.pack(self.data_aligned.track.id))
01826       length = len(self.data_aligned.track.pose)
01827       buff.write(_struct_I.pack(length))
01828       for val1 in self.data_aligned.track.pose:
01829         _v79 = val1.position
01830         _x = _v79
01831         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01832         _v80 = val1.orientation
01833         _x = _v80
01834         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01835       length = len(self.data_aligned.track.pose_projected)
01836       buff.write(_struct_I.pack(length))
01837       for val1 in self.data_aligned.track.pose_projected:
01838         _v81 = val1.position
01839         _x = _v81
01840         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01841         _v82 = val1.orientation
01842         _x = _v82
01843         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01844       length = len(self.data_aligned.track.pose_resampled)
01845       buff.write(_struct_I.pack(length))
01846       for val1 in self.data_aligned.track.pose_resampled:
01847         _v83 = val1.position
01848         _x = _v83
01849         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01850         _v84 = val1.orientation
01851         _x = _v84
01852         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01853       length = len(self.data_aligned.track.pose_flags)
01854       buff.write(_struct_I.pack(length))
01855       pattern = '<%sI'%length
01856       buff.write(self.data_aligned.track.pose_flags.tostring())
01857       length = len(self.data_aligned.track.channels)
01858       buff.write(_struct_I.pack(length))
01859       for val1 in self.data_aligned.track.channels:
01860         _x = val1.name
01861         length = len(_x)
01862         buff.write(struct.pack('<I%ss'%length, length, _x))
01863         length = len(val1.values)
01864         buff.write(_struct_I.pack(length))
01865         pattern = '<%sf'%length
01866         buff.write(val1.values.tostring())
01867       buff.write(self.R.tostring())
01868       buff.write(self.T.tostring())
01869       _x = self
01870       buff.write(_struct_df.pack(_x.dist_rot, _x.dist_trans))
01871     except struct.error, se: self._check_types(se)
01872     except TypeError, te: self._check_types(te)
01873 
01874   def deserialize_numpy(self, str, numpy):
01875     """
01876     unpack serialized message in str into this message instance using numpy for array types
01877     @param str: byte array of serialized message
01878     @type  str: str
01879     @param numpy: numpy python module
01880     @type  numpy: module
01881     """
01882     try:
01883       if self.model_aligned is None:
01884         self.model_aligned = articulation_msgs.msg.ModelMsg()
01885       if self.data_aligned is None:
01886         self.data_aligned = articulation_msgs.msg.ModelMsg()
01887       end = 0
01888       _x = self
01889       start = end
01890       end += 12
01891       (_x.model_aligned.header.seq, _x.model_aligned.header.stamp.secs, _x.model_aligned.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01892       start = end
01893       end += 4
01894       (length,) = _struct_I.unpack(str[start:end])
01895       start = end
01896       end += length
01897       self.model_aligned.header.frame_id = str[start:end]
01898       start = end
01899       end += 4
01900       (self.model_aligned.id,) = _struct_i.unpack(str[start:end])
01901       start = end
01902       end += 4
01903       (length,) = _struct_I.unpack(str[start:end])
01904       start = end
01905       end += length
01906       self.model_aligned.name = str[start:end]
01907       start = end
01908       end += 4
01909       (length,) = _struct_I.unpack(str[start:end])
01910       self.model_aligned.params = []
01911       for i in xrange(0, length):
01912         val1 = articulation_msgs.msg.ParamMsg()
01913         start = end
01914         end += 4
01915         (length,) = _struct_I.unpack(str[start:end])
01916         start = end
01917         end += length
01918         val1.name = str[start:end]
01919         _x = val1
01920         start = end
01921         end += 9
01922         (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
01923         self.model_aligned.params.append(val1)
01924       _x = self
01925       start = end
01926       end += 12
01927       (_x.model_aligned.track.header.seq, _x.model_aligned.track.header.stamp.secs, _x.model_aligned.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01928       start = end
01929       end += 4
01930       (length,) = _struct_I.unpack(str[start:end])
01931       start = end
01932       end += length
01933       self.model_aligned.track.header.frame_id = str[start:end]
01934       start = end
01935       end += 4
01936       (self.model_aligned.track.id,) = _struct_i.unpack(str[start:end])
01937       start = end
01938       end += 4
01939       (length,) = _struct_I.unpack(str[start:end])
01940       self.model_aligned.track.pose = []
01941       for i in xrange(0, length):
01942         val1 = geometry_msgs.msg.Pose()
01943         _v85 = val1.position
01944         _x = _v85
01945         start = end
01946         end += 24
01947         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01948         _v86 = val1.orientation
01949         _x = _v86
01950         start = end
01951         end += 32
01952         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01953         self.model_aligned.track.pose.append(val1)
01954       start = end
01955       end += 4
01956       (length,) = _struct_I.unpack(str[start:end])
01957       self.model_aligned.track.pose_projected = []
01958       for i in xrange(0, length):
01959         val1 = geometry_msgs.msg.Pose()
01960         _v87 = val1.position
01961         _x = _v87
01962         start = end
01963         end += 24
01964         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01965         _v88 = val1.orientation
01966         _x = _v88
01967         start = end
01968         end += 32
01969         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01970         self.model_aligned.track.pose_projected.append(val1)
01971       start = end
01972       end += 4
01973       (length,) = _struct_I.unpack(str[start:end])
01974       self.model_aligned.track.pose_resampled = []
01975       for i in xrange(0, length):
01976         val1 = geometry_msgs.msg.Pose()
01977         _v89 = val1.position
01978         _x = _v89
01979         start = end
01980         end += 24
01981         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01982         _v90 = val1.orientation
01983         _x = _v90
01984         start = end
01985         end += 32
01986         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01987         self.model_aligned.track.pose_resampled.append(val1)
01988       start = end
01989       end += 4
01990       (length,) = _struct_I.unpack(str[start:end])
01991       pattern = '<%sI'%length
01992       start = end
01993       end += struct.calcsize(pattern)
01994       self.model_aligned.track.pose_flags = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
01995       start = end
01996       end += 4
01997       (length,) = _struct_I.unpack(str[start:end])
01998       self.model_aligned.track.channels = []
01999       for i in xrange(0, length):
02000         val1 = sensor_msgs.msg.ChannelFloat32()
02001         start = end
02002         end += 4
02003         (length,) = _struct_I.unpack(str[start:end])
02004         start = end
02005         end += length
02006         val1.name = str[start:end]
02007         start = end
02008         end += 4
02009         (length,) = _struct_I.unpack(str[start:end])
02010         pattern = '<%sf'%length
02011         start = end
02012         end += struct.calcsize(pattern)
02013         val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
02014         self.model_aligned.track.channels.append(val1)
02015       _x = self
02016       start = end
02017       end += 12
02018       (_x.data_aligned.header.seq, _x.data_aligned.header.stamp.secs, _x.data_aligned.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
02019       start = end
02020       end += 4
02021       (length,) = _struct_I.unpack(str[start:end])
02022       start = end
02023       end += length
02024       self.data_aligned.header.frame_id = str[start:end]
02025       start = end
02026       end += 4
02027       (self.data_aligned.id,) = _struct_i.unpack(str[start:end])
02028       start = end
02029       end += 4
02030       (length,) = _struct_I.unpack(str[start:end])
02031       start = end
02032       end += length
02033       self.data_aligned.name = str[start:end]
02034       start = end
02035       end += 4
02036       (length,) = _struct_I.unpack(str[start:end])
02037       self.data_aligned.params = []
02038       for i in xrange(0, length):
02039         val1 = articulation_msgs.msg.ParamMsg()
02040         start = end
02041         end += 4
02042         (length,) = _struct_I.unpack(str[start:end])
02043         start = end
02044         end += length
02045         val1.name = str[start:end]
02046         _x = val1
02047         start = end
02048         end += 9
02049         (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
02050         self.data_aligned.params.append(val1)
02051       _x = self
02052       start = end
02053       end += 12
02054       (_x.data_aligned.track.header.seq, _x.data_aligned.track.header.stamp.secs, _x.data_aligned.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
02055       start = end
02056       end += 4
02057       (length,) = _struct_I.unpack(str[start:end])
02058       start = end
02059       end += length
02060       self.data_aligned.track.header.frame_id = str[start:end]
02061       start = end
02062       end += 4
02063       (self.data_aligned.track.id,) = _struct_i.unpack(str[start:end])
02064       start = end
02065       end += 4
02066       (length,) = _struct_I.unpack(str[start:end])
02067       self.data_aligned.track.pose = []
02068       for i in xrange(0, length):
02069         val1 = geometry_msgs.msg.Pose()
02070         _v91 = val1.position
02071         _x = _v91
02072         start = end
02073         end += 24
02074         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02075         _v92 = val1.orientation
02076         _x = _v92
02077         start = end
02078         end += 32
02079         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02080         self.data_aligned.track.pose.append(val1)
02081       start = end
02082       end += 4
02083       (length,) = _struct_I.unpack(str[start:end])
02084       self.data_aligned.track.pose_projected = []
02085       for i in xrange(0, length):
02086         val1 = geometry_msgs.msg.Pose()
02087         _v93 = val1.position
02088         _x = _v93
02089         start = end
02090         end += 24
02091         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02092         _v94 = val1.orientation
02093         _x = _v94
02094         start = end
02095         end += 32
02096         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02097         self.data_aligned.track.pose_projected.append(val1)
02098       start = end
02099       end += 4
02100       (length,) = _struct_I.unpack(str[start:end])
02101       self.data_aligned.track.pose_resampled = []
02102       for i in xrange(0, length):
02103         val1 = geometry_msgs.msg.Pose()
02104         _v95 = val1.position
02105         _x = _v95
02106         start = end
02107         end += 24
02108         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02109         _v96 = val1.orientation
02110         _x = _v96
02111         start = end
02112         end += 32
02113         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02114         self.data_aligned.track.pose_resampled.append(val1)
02115       start = end
02116       end += 4
02117       (length,) = _struct_I.unpack(str[start:end])
02118       pattern = '<%sI'%length
02119       start = end
02120       end += struct.calcsize(pattern)
02121       self.data_aligned.track.pose_flags = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
02122       start = end
02123       end += 4
02124       (length,) = _struct_I.unpack(str[start:end])
02125       self.data_aligned.track.channels = []
02126       for i in xrange(0, length):
02127         val1 = sensor_msgs.msg.ChannelFloat32()
02128         start = end
02129         end += 4
02130         (length,) = _struct_I.unpack(str[start:end])
02131         start = end
02132         end += length
02133         val1.name = str[start:end]
02134         start = end
02135         end += 4
02136         (length,) = _struct_I.unpack(str[start:end])
02137         pattern = '<%sf'%length
02138         start = end
02139         end += struct.calcsize(pattern)
02140         val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
02141         self.data_aligned.track.channels.append(val1)
02142       start = end
02143       end += 72
02144       self.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
02145       start = end
02146       end += 24
02147       self.T = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
02148       _x = self
02149       start = end
02150       end += 12
02151       (_x.dist_rot, _x.dist_trans,) = _struct_df.unpack(str[start:end])
02152       return self
02153     except struct.error, e:
02154       raise roslib.message.DeserializationError(e) #most likely buffer underfill
02155 
02156 _struct_I = roslib.message.struct_I
02157 _struct_i = struct.Struct("<i")
02158 _struct_dB = struct.Struct("<dB")
02159 _struct_9d = struct.Struct("<9d")
02160 _struct_df = struct.Struct("<df")
02161 _struct_3I = struct.Struct("<3I")
02162 _struct_4d = struct.Struct("<4d")
02163 _struct_3d = struct.Struct("<3d")
02164 class AlignModelSrv(roslib.message.ServiceDefinition):
02165   _type          = 'articulation_msgs/AlignModelSrv'
02166   _md5sum = '24f8639d9e5b811cbb8a46156e9ac900'
02167   _request_class  = AlignModelSrvRequest
02168   _response_class = AlignModelSrvResponse