_TrackModelSrv.py

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"""autogenerated by genmsg_py from TrackModelSrvRequest.msg. Do not edit."""
import roslib.message
import struct

import sensor_msgs.msg
import geometry_msgs.msg
import articulation_msgs.msg
import std_msgs.msg

class TrackModelSrvRequest(roslib.message.Message):
  _md5sum = "056375d531bc6dcbc8a3fedb4b45371f"
  _type = "articulation_msgs/TrackModelSrvRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """










articulation_msgs/ModelMsg model


================================================================================
MSG: articulation_msgs/ModelMsg
# Single kinematic model
#
# A kinematic model is defined by its model class name, and a set of parameters. 
# The client may additionally specify a model id, that can be used to colorize the
# model when visualized using the RVIZ model display.
# 
# For a list of currently implemented models, see the documetation at
# http://www.ros.org/wiki/articulation_models
#
#

Header header                        # frame and timestamp

int32 id                             # user specified model id
string name                          # name of the model family (e.g. "rotational",
                                     # "prismatic", "pca-gp", "rigid")
articulation_msgs/ParamMsg[] params  # model parameters
articulation_msgs/TrackMsg track     # trajectory from which the model is estimated, or
                                     # that is evaluated using the model

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: articulation_msgs/ParamMsg
# Single parameter passed to or from model fitting
#
# This mechanism allows to flexibly pass parameters to 
# model fitting (and vice versa). Note that these parameters 
# are model-specific: A client may supply additional
# parameters to the model estimator, and, similarly, a estimator
# may add the estimated model parameters to the model message.
# When the model is then evaluated, for example to make predictions
# or to compute the likelihood, the model class can then use
# these parameters.
#
# A parameter has a name, a value, and a type. The type globally
# indicates whether it is a prior parameter (prior to model fitting),
# or a model parameter (found during model fitting, using a maximum-
# likelihood estimator), or a cached evaluation (e.g., the likelihood
# or the BIC are a typical "side"-product of model estimation, and
# can therefore already be cached).
#
# For a list of currently used parameters, see the documentation at
# http://www.ros.org/wiki/articulation_models
#

uint8 PRIOR=0   # indicates a prior model parameter 
                # (e.g., "sigma_position")
uint8 PARAM=1   # indicates a estimated model parameter 
                # (e.g., "rot_radius", the estimated radius)
uint8 EVAL=2    # indicates a cached evaluation of the model, given 
                # the current trajectory
                # (e.g., "loglikelihood", the log likelihood of the
                # data, given the model and its parameters)

string name     # name of the parameter
float64 value   # value of the parameter
uint8 type      # type of the parameter (PRIOR, PARAM, EVAL)


================================================================================
MSG: articulation_msgs/TrackMsg
# Single kinematic trajectory
#
# This message contains a kinematic trajectory. The trajectory is specified
# as a vector of 6D poses. An additional flag, track_type, indicates whether
# the track is valid, and whether it includes orientation. The track id
# can be used for automatic coloring in the RVIZ track plugin, and can be 
# freely chosen by the client. 
#
# A model is fitting only from the trajectory stored in the pose[]-vector. 
# Additional information may be associated to each pose using the channels
# vector, with arbitrary # fields (e.g., to include applied/measured forces). 
#
# After model evaluation,
# also the associated configurations of the object are stored in the channels,
# named "q[0]".."q[DOF-1]", where DOF is the number of degrees of freedom.
# Model evaluation also projects the poses in the pose vector onto the model,
# and stores these ideal poses in the vector pose_projected. Further, during model
# evaluation, a new set of (uniform) configurations over the valid configuration
# range is sampled, and the result is stored in pose_resampled.
# The vector pose_flags contains additional display flags for the poses in the
# pose vector, for example, whether a pose is visible and/or
# the end of a trajectory segment. At the moment, this is only used by the
# prior_model_learner.
#

Header header                           # Timestamp and frame
int32 id                                # used-specified track id

geometry_msgs/Pose[] pose               # sequence of poses, defining the observed trajectory
geometry_msgs/Pose[] pose_projected     # sequence of poses, projected to the model 
                                        # (after model evaluation)
geometry_msgs/Pose[] pose_resampled     # sequence of poses, re-sampled from the model in
                                        # the valid configuration range
uint32[] pose_flags                     # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT

uint32 POSE_VISIBLE=1
uint32 POSE_END_OF_SEGMENT=2

# Each channel should have the same number of elements as pose array, 
# and the data in each channel should correspond 1:1 with each pose
# possible channels: "width", "height", "rgb", ...
sensor_msgs/ChannelFloat32[] channels       



================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: sensor_msgs/ChannelFloat32
# This message is used by the PointCloud message to hold optional data
# associated with each point in the cloud. The length of the values
# array should be the same as the length of the points array in the
# PointCloud, and each value should be associated with the corresponding
# point.

# Channel names in existing practice include:
#   "u", "v" - row and column (respectively) in the left stereo image.
#              This is opposite to usual conventions but remains for
#              historical reasons. The newer PointCloud2 message has no
#              such problem.
#   "rgb" - For point clouds produced by color stereo cameras. uint8
#           (R,G,B) values packed into the least significant 24 bits,
#           in order.
#   "intensity" - laser or pixel intensity.
#   "distance"

# The channel name should give semantics of the channel (e.g.
# "intensity" instead of "value").
string name

# The values array should be 1-1 with the elements of the associated
# PointCloud.
float32[] values

"""
  __slots__ = ['model']
  _slot_types = ['articulation_msgs/ModelMsg']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.
    
    The available fields are:
       model
    
    @param args: complete set of field values, in .msg order
    @param kwds: use keyword arguments corresponding to message field names
    to set specific fields. 
    """
    if args or kwds:
      super(TrackModelSrvRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.model is None:
        self.model = articulation_msgs.msg.ModelMsg()
    else:
      self.model = articulation_msgs.msg.ModelMsg()

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    @param buff: buffer
    @type  buff: StringIO
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs))
      _x = self.model.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.model.id))
      _x = self.model.name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.model.params)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.params:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_dB.pack(_x.value, _x.type))
      _x = self
      buff.write(_struct_3I.pack(_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs))
      _x = self.model.track.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.model.track.id))
      length = len(self.model.track.pose)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose:
        _v1 = val1.position
        _x = _v1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v2 = val1.orientation
        _x = _v2
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_projected)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose_projected:
        _v3 = val1.position
        _x = _v3
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v4 = val1.orientation
        _x = _v4
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_resampled)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose_resampled:
        _v5 = val1.position
        _x = _v5
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v6 = val1.orientation
        _x = _v6
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_flags)
      buff.write(_struct_I.pack(length))
      pattern = '<%sI'%length
      buff.write(struct.pack(pattern, *self.model.track.pose_flags))
      length = len(self.model.track.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.channels:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.values)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *val1.values))
    except struct.error, se: self._check_types(se)
    except TypeError, te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    @param str: byte array of serialized message
    @type  str: str
    """
    try:
      if self.model is None:
        self.model = articulation_msgs.msg.ModelMsg()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.header.frame_id = str[start:end]
      start = end
      end += 4
      (self.model.id,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.params = []
      for i in xrange(0, length):
        val1 = articulation_msgs.msg.ParamMsg()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        _x = val1
        start = end
        end += 9
        (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
        self.model.params.append(val1)
      _x = self
      start = end
      end += 12
      (_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.track.header.frame_id = str[start:end]
      start = end
      end += 4
      (self.model.track.id,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v7 = val1.position
        _x = _v7
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v8 = val1.orientation
        _x = _v8
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose_projected = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v9 = val1.position
        _x = _v9
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v10 = val1.orientation
        _x = _v10
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose_projected.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose_resampled = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v11 = val1.position
        _x = _v11
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v12 = val1.orientation
        _x = _v12
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose_resampled.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sI'%length
      start = end
      end += struct.calcsize(pattern)
      self.model.track.pose_flags = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.channels = []
      for i in xrange(0, length):
        val1 = sensor_msgs.msg.ChannelFloat32()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.values = struct.unpack(pattern, str[start:end])
        self.model.track.channels.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    @param buff: buffer
    @type  buff: StringIO
    @param numpy: numpy python module
    @type  numpy module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs))
      _x = self.model.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.model.id))
      _x = self.model.name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.model.params)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.params:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_dB.pack(_x.value, _x.type))
      _x = self
      buff.write(_struct_3I.pack(_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs))
      _x = self.model.track.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.model.track.id))
      length = len(self.model.track.pose)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose:
        _v13 = val1.position
        _x = _v13
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v14 = val1.orientation
        _x = _v14
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_projected)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose_projected:
        _v15 = val1.position
        _x = _v15
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v16 = val1.orientation
        _x = _v16
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_resampled)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose_resampled:
        _v17 = val1.position
        _x = _v17
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v18 = val1.orientation
        _x = _v18
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_flags)
      buff.write(_struct_I.pack(length))
      pattern = '<%sI'%length
      buff.write(self.model.track.pose_flags.tostring())
      length = len(self.model.track.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.channels:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.values)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(val1.values.tostring())
    except struct.error, se: self._check_types(se)
    except TypeError, te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    @param str: byte array of serialized message
    @type  str: str
    @param numpy: numpy python module
    @type  numpy: module
    """
    try:
      if self.model is None:
        self.model = articulation_msgs.msg.ModelMsg()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.header.frame_id = str[start:end]
      start = end
      end += 4
      (self.model.id,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.params = []
      for i in xrange(0, length):
        val1 = articulation_msgs.msg.ParamMsg()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        _x = val1
        start = end
        end += 9
        (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
        self.model.params.append(val1)
      _x = self
      start = end
      end += 12
      (_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.track.header.frame_id = str[start:end]
      start = end
      end += 4
      (self.model.track.id,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v19 = val1.position
        _x = _v19
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v20 = val1.orientation
        _x = _v20
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose_projected = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v21 = val1.position
        _x = _v21
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v22 = val1.orientation
        _x = _v22
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose_projected.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose_resampled = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v23 = val1.position
        _x = _v23
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v24 = val1.orientation
        _x = _v24
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose_resampled.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sI'%length
      start = end
      end += struct.calcsize(pattern)
      self.model.track.pose_flags = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.channels = []
      for i in xrange(0, length):
        val1 = sensor_msgs.msg.ChannelFloat32()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
        self.model.track.channels.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_i = struct.Struct("<i")
_struct_3I = struct.Struct("<3I")
_struct_dB = struct.Struct("<dB")
_struct_4d = struct.Struct("<4d")
_struct_3d = struct.Struct("<3d")
"""autogenerated by genmsg_py from TrackModelSrvResponse.msg. Do not edit."""
import roslib.message
import struct

import sensor_msgs.msg
import geometry_msgs.msg
import articulation_msgs.msg
import std_msgs.msg

class TrackModelSrvResponse(roslib.message.Message):
  _md5sum = "056375d531bc6dcbc8a3fedb4b45371f"
  _type = "articulation_msgs/TrackModelSrvResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """articulation_msgs/ModelMsg model






================================================================================
MSG: articulation_msgs/ModelMsg
# Single kinematic model
#
# A kinematic model is defined by its model class name, and a set of parameters. 
# The client may additionally specify a model id, that can be used to colorize the
# model when visualized using the RVIZ model display.
# 
# For a list of currently implemented models, see the documetation at
# http://www.ros.org/wiki/articulation_models
#
#

Header header                        # frame and timestamp

int32 id                             # user specified model id
string name                          # name of the model family (e.g. "rotational",
                                     # "prismatic", "pca-gp", "rigid")
articulation_msgs/ParamMsg[] params  # model parameters
articulation_msgs/TrackMsg track     # trajectory from which the model is estimated, or
                                     # that is evaluated using the model

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: articulation_msgs/ParamMsg
# Single parameter passed to or from model fitting
#
# This mechanism allows to flexibly pass parameters to 
# model fitting (and vice versa). Note that these parameters 
# are model-specific: A client may supply additional
# parameters to the model estimator, and, similarly, a estimator
# may add the estimated model parameters to the model message.
# When the model is then evaluated, for example to make predictions
# or to compute the likelihood, the model class can then use
# these parameters.
#
# A parameter has a name, a value, and a type. The type globally
# indicates whether it is a prior parameter (prior to model fitting),
# or a model parameter (found during model fitting, using a maximum-
# likelihood estimator), or a cached evaluation (e.g., the likelihood
# or the BIC are a typical "side"-product of model estimation, and
# can therefore already be cached).
#
# For a list of currently used parameters, see the documentation at
# http://www.ros.org/wiki/articulation_models
#

uint8 PRIOR=0   # indicates a prior model parameter 
                # (e.g., "sigma_position")
uint8 PARAM=1   # indicates a estimated model parameter 
                # (e.g., "rot_radius", the estimated radius)
uint8 EVAL=2    # indicates a cached evaluation of the model, given 
                # the current trajectory
                # (e.g., "loglikelihood", the log likelihood of the
                # data, given the model and its parameters)

string name     # name of the parameter
float64 value   # value of the parameter
uint8 type      # type of the parameter (PRIOR, PARAM, EVAL)


================================================================================
MSG: articulation_msgs/TrackMsg
# Single kinematic trajectory
#
# This message contains a kinematic trajectory. The trajectory is specified
# as a vector of 6D poses. An additional flag, track_type, indicates whether
# the track is valid, and whether it includes orientation. The track id
# can be used for automatic coloring in the RVIZ track plugin, and can be 
# freely chosen by the client. 
#
# A model is fitting only from the trajectory stored in the pose[]-vector. 
# Additional information may be associated to each pose using the channels
# vector, with arbitrary # fields (e.g., to include applied/measured forces). 
#
# After model evaluation,
# also the associated configurations of the object are stored in the channels,
# named "q[0]".."q[DOF-1]", where DOF is the number of degrees of freedom.
# Model evaluation also projects the poses in the pose vector onto the model,
# and stores these ideal poses in the vector pose_projected. Further, during model
# evaluation, a new set of (uniform) configurations over the valid configuration
# range is sampled, and the result is stored in pose_resampled.
# The vector pose_flags contains additional display flags for the poses in the
# pose vector, for example, whether a pose is visible and/or
# the end of a trajectory segment. At the moment, this is only used by the
# prior_model_learner.
#

Header header                           # Timestamp and frame
int32 id                                # used-specified track id

geometry_msgs/Pose[] pose               # sequence of poses, defining the observed trajectory
geometry_msgs/Pose[] pose_projected     # sequence of poses, projected to the model 
                                        # (after model evaluation)
geometry_msgs/Pose[] pose_resampled     # sequence of poses, re-sampled from the model in
                                        # the valid configuration range
uint32[] pose_flags                     # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT

uint32 POSE_VISIBLE=1
uint32 POSE_END_OF_SEGMENT=2

# Each channel should have the same number of elements as pose array, 
# and the data in each channel should correspond 1:1 with each pose
# possible channels: "width", "height", "rgb", ...
sensor_msgs/ChannelFloat32[] channels       



================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: sensor_msgs/ChannelFloat32
# This message is used by the PointCloud message to hold optional data
# associated with each point in the cloud. The length of the values
# array should be the same as the length of the points array in the
# PointCloud, and each value should be associated with the corresponding
# point.

# Channel names in existing practice include:
#   "u", "v" - row and column (respectively) in the left stereo image.
#              This is opposite to usual conventions but remains for
#              historical reasons. The newer PointCloud2 message has no
#              such problem.
#   "rgb" - For point clouds produced by color stereo cameras. uint8
#           (R,G,B) values packed into the least significant 24 bits,
#           in order.
#   "intensity" - laser or pixel intensity.
#   "distance"

# The channel name should give semantics of the channel (e.g.
# "intensity" instead of "value").
string name

# The values array should be 1-1 with the elements of the associated
# PointCloud.
float32[] values

"""
  __slots__ = ['model']
  _slot_types = ['articulation_msgs/ModelMsg']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.
    
    The available fields are:
       model
    
    @param args: complete set of field values, in .msg order
    @param kwds: use keyword arguments corresponding to message field names
    to set specific fields. 
    """
    if args or kwds:
      super(TrackModelSrvResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.model is None:
        self.model = articulation_msgs.msg.ModelMsg()
    else:
      self.model = articulation_msgs.msg.ModelMsg()

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    @param buff: buffer
    @type  buff: StringIO
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs))
      _x = self.model.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.model.id))
      _x = self.model.name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.model.params)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.params:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_dB.pack(_x.value, _x.type))
      _x = self
      buff.write(_struct_3I.pack(_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs))
      _x = self.model.track.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.model.track.id))
      length = len(self.model.track.pose)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose:
        _v25 = val1.position
        _x = _v25
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v26 = val1.orientation
        _x = _v26
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_projected)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose_projected:
        _v27 = val1.position
        _x = _v27
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v28 = val1.orientation
        _x = _v28
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_resampled)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose_resampled:
        _v29 = val1.position
        _x = _v29
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v30 = val1.orientation
        _x = _v30
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_flags)
      buff.write(_struct_I.pack(length))
      pattern = '<%sI'%length
      buff.write(struct.pack(pattern, *self.model.track.pose_flags))
      length = len(self.model.track.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.channels:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.values)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *val1.values))
    except struct.error, se: self._check_types(se)
    except TypeError, te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    @param str: byte array of serialized message
    @type  str: str
    """
    try:
      if self.model is None:
        self.model = articulation_msgs.msg.ModelMsg()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.header.frame_id = str[start:end]
      start = end
      end += 4
      (self.model.id,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.params = []
      for i in xrange(0, length):
        val1 = articulation_msgs.msg.ParamMsg()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        _x = val1
        start = end
        end += 9
        (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
        self.model.params.append(val1)
      _x = self
      start = end
      end += 12
      (_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.track.header.frame_id = str[start:end]
      start = end
      end += 4
      (self.model.track.id,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v31 = val1.position
        _x = _v31
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v32 = val1.orientation
        _x = _v32
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose_projected = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v33 = val1.position
        _x = _v33
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v34 = val1.orientation
        _x = _v34
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose_projected.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose_resampled = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v35 = val1.position
        _x = _v35
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v36 = val1.orientation
        _x = _v36
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose_resampled.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sI'%length
      start = end
      end += struct.calcsize(pattern)
      self.model.track.pose_flags = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.channels = []
      for i in xrange(0, length):
        val1 = sensor_msgs.msg.ChannelFloat32()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.values = struct.unpack(pattern, str[start:end])
        self.model.track.channels.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    @param buff: buffer
    @type  buff: StringIO
    @param numpy: numpy python module
    @type  numpy module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs))
      _x = self.model.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.model.id))
      _x = self.model.name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.model.params)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.params:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_dB.pack(_x.value, _x.type))
      _x = self
      buff.write(_struct_3I.pack(_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs))
      _x = self.model.track.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_i.pack(self.model.track.id))
      length = len(self.model.track.pose)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose:
        _v37 = val1.position
        _x = _v37
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v38 = val1.orientation
        _x = _v38
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_projected)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose_projected:
        _v39 = val1.position
        _x = _v39
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v40 = val1.orientation
        _x = _v40
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_resampled)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.pose_resampled:
        _v41 = val1.position
        _x = _v41
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v42 = val1.orientation
        _x = _v42
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.model.track.pose_flags)
      buff.write(_struct_I.pack(length))
      pattern = '<%sI'%length
      buff.write(self.model.track.pose_flags.tostring())
      length = len(self.model.track.channels)
      buff.write(_struct_I.pack(length))
      for val1 in self.model.track.channels:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.values)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(val1.values.tostring())
    except struct.error, se: self._check_types(se)
    except TypeError, te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    @param str: byte array of serialized message
    @type  str: str
    @param numpy: numpy python module
    @type  numpy: module
    """
    try:
      if self.model is None:
        self.model = articulation_msgs.msg.ModelMsg()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.header.frame_id = str[start:end]
      start = end
      end += 4
      (self.model.id,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.params = []
      for i in xrange(0, length):
        val1 = articulation_msgs.msg.ParamMsg()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        _x = val1
        start = end
        end += 9
        (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
        self.model.params.append(val1)
      _x = self
      start = end
      end += 12
      (_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model.track.header.frame_id = str[start:end]
      start = end
      end += 4
      (self.model.track.id,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v43 = val1.position
        _x = _v43
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v44 = val1.orientation
        _x = _v44
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose_projected = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v45 = val1.position
        _x = _v45
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v46 = val1.orientation
        _x = _v46
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose_projected.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.pose_resampled = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v47 = val1.position
        _x = _v47
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v48 = val1.orientation
        _x = _v48
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.model.track.pose_resampled.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sI'%length
      start = end
      end += struct.calcsize(pattern)
      self.model.track.pose_flags = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model.track.channels = []
      for i in xrange(0, length):
        val1 = sensor_msgs.msg.ChannelFloat32()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
        self.model.track.channels.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_i = struct.Struct("<i")
_struct_3I = struct.Struct("<3I")
_struct_dB = struct.Struct("<dB")
_struct_4d = struct.Struct("<4d")
_struct_3d = struct.Struct("<3d")
class TrackModelSrv(roslib.message.ServiceDefinition):
  _type          = 'articulation_msgs/TrackModelSrv'
  _md5sum = 'eba693fb01232c71f70038728ca60d66'
  _request_class  = TrackModelSrvRequest
  _response_class = TrackModelSrvResponse

---

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