00001
00002 #ifndef CALIBRATION_MSGS_MESSAGE_ROBOTMEASUREMENT_H
00003 #define CALIBRATION_MSGS_MESSAGE_ROBOTMEASUREMENT_H
00004 #include <string>
00005 #include <vector>
00006 #include <map>
00007 #include <ostream>
00008 #include "ros/serialization.h"
00009 #include "ros/builtin_message_traits.h"
00010 #include "ros/message_operations.h"
00011 #include "ros/time.h"
00012
00013 #include "ros/macros.h"
00014
00015 #include "ros/assert.h"
00016
00017 #include "calibration_msgs/CameraMeasurement.h"
00018 #include "calibration_msgs/LaserMeasurement.h"
00019 #include "calibration_msgs/ChainMeasurement.h"
00020
00021 namespace calibration_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct RobotMeasurement_ {
00025 typedef RobotMeasurement_<ContainerAllocator> Type;
00026
00027 RobotMeasurement_()
00028 : sample_id()
00029 , target_id()
00030 , chain_id()
00031 , M_cam()
00032 , M_laser()
00033 , M_chain()
00034 {
00035 }
00036
00037 RobotMeasurement_(const ContainerAllocator& _alloc)
00038 : sample_id(_alloc)
00039 , target_id(_alloc)
00040 , chain_id(_alloc)
00041 , M_cam(_alloc)
00042 , M_laser(_alloc)
00043 , M_chain(_alloc)
00044 {
00045 }
00046
00047 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _sample_id_type;
00048 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > sample_id;
00049
00050 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _target_id_type;
00051 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > target_id;
00052
00053 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _chain_id_type;
00054 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > chain_id;
00055
00056 typedef std::vector< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::other > _M_cam_type;
00057 std::vector< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::other > M_cam;
00058
00059 typedef std::vector< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::other > _M_laser_type;
00060 std::vector< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::other > M_laser;
00061
00062 typedef std::vector< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> >::other > _M_chain_type;
00063 std::vector< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> >::other > M_chain;
00064
00065
00066 ROS_DEPRECATED uint32_t get_M_cam_size() const { return (uint32_t)M_cam.size(); }
00067 ROS_DEPRECATED void set_M_cam_size(uint32_t size) { M_cam.resize((size_t)size); }
00068 ROS_DEPRECATED void get_M_cam_vec(std::vector< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::other > & vec) const { vec = this->M_cam; }
00069 ROS_DEPRECATED void set_M_cam_vec(const std::vector< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::other > & vec) { this->M_cam = vec; }
00070 ROS_DEPRECATED uint32_t get_M_laser_size() const { return (uint32_t)M_laser.size(); }
00071 ROS_DEPRECATED void set_M_laser_size(uint32_t size) { M_laser.resize((size_t)size); }
00072 ROS_DEPRECATED void get_M_laser_vec(std::vector< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::other > & vec) const { vec = this->M_laser; }
00073 ROS_DEPRECATED void set_M_laser_vec(const std::vector< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::other > & vec) { this->M_laser = vec; }
00074 ROS_DEPRECATED uint32_t get_M_chain_size() const { return (uint32_t)M_chain.size(); }
00075 ROS_DEPRECATED void set_M_chain_size(uint32_t size) { M_chain.resize((size_t)size); }
00076 ROS_DEPRECATED void get_M_chain_vec(std::vector< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> >::other > & vec) const { vec = this->M_chain; }
00077 ROS_DEPRECATED void set_M_chain_vec(const std::vector< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> >::other > & vec) { this->M_chain = vec; }
00078 private:
00079 static const char* __s_getDataType_() { return "calibration_msgs/RobotMeasurement"; }
00080 public:
00081 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00082
00083 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00084
00085 private:
00086 static const char* __s_getMD5Sum_() { return "5faeacd55902385628948423d864d702"; }
00087 public:
00088 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00089
00090 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00091
00092 private:
00093 static const char* __s_getMessageDefinition_() { return "string sample_id # Tag to figure out which yaml file this was generated from\n\
00094 \n\
00095 string target_id # Defines the target that we were sensing.\n\
00096 string chain_id # Defines where this target was attached\n\
00097 \n\
00098 CameraMeasurement[] M_cam\n\
00099 LaserMeasurement[] M_laser\n\
00100 ChainMeasurement[] M_chain\n\
00101 \n\
00102 ================================================================================\n\
00103 MSG: calibration_msgs/CameraMeasurement\n\
00104 Header header\n\
00105 string camera_id\n\
00106 ImagePoint[] image_points\n\
00107 sensor_msgs/CameraInfo cam_info\n\
00108 \n\
00109 # True -> The extra debugging fields are populated\n\
00110 bool verbose\n\
00111 \n\
00112 # Extra, partially processed data. Only needed for debugging\n\
00113 sensor_msgs/Image image\n\
00114 sensor_msgs/Image image_rect\n\
00115 calibration_msgs/CalibrationPattern features\n\
00116 \n\
00117 ================================================================================\n\
00118 MSG: std_msgs/Header\n\
00119 # Standard metadata for higher-level stamped data types.\n\
00120 # This is generally used to communicate timestamped data \n\
00121 # in a particular coordinate frame.\n\
00122 # \n\
00123 # sequence ID: consecutively increasing ID \n\
00124 uint32 seq\n\
00125 #Two-integer timestamp that is expressed as:\n\
00126 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00127 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00128 # time-handling sugar is provided by the client library\n\
00129 time stamp\n\
00130 #Frame this data is associated with\n\
00131 # 0: no frame\n\
00132 # 1: global frame\n\
00133 string frame_id\n\
00134 \n\
00135 ================================================================================\n\
00136 MSG: calibration_msgs/ImagePoint\n\
00137 float32 x\n\
00138 float32 y\n\
00139 \n\
00140 ================================================================================\n\
00141 MSG: sensor_msgs/CameraInfo\n\
00142 # This message defines meta information for a camera. It should be in a\n\
00143 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00144 # image topics named:\n\
00145 #\n\
00146 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00147 # image - monochrome, distorted\n\
00148 # image_color - color, distorted\n\
00149 # image_rect - monochrome, rectified\n\
00150 # image_rect_color - color, rectified\n\
00151 #\n\
00152 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00153 # for producing the four processed image topics from image_raw and\n\
00154 # camera_info. The meaning of the camera parameters are described in\n\
00155 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00156 #\n\
00157 # The image_geometry package provides a user-friendly interface to\n\
00158 # common operations using this meta information. If you want to, e.g.,\n\
00159 # project a 3d point into image coordinates, we strongly recommend\n\
00160 # using image_geometry.\n\
00161 #\n\
00162 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00163 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00164 # indicates an uncalibrated camera.\n\
00165 \n\
00166 #######################################################################\n\
00167 # Image acquisition info #\n\
00168 #######################################################################\n\
00169 \n\
00170 # Time of image acquisition, camera coordinate frame ID\n\
00171 Header header # Header timestamp should be acquisition time of image\n\
00172 # Header frame_id should be optical frame of camera\n\
00173 # origin of frame should be optical center of camera\n\
00174 # +x should point to the right in the image\n\
00175 # +y should point down in the image\n\
00176 # +z should point into the plane of the image\n\
00177 \n\
00178 \n\
00179 #######################################################################\n\
00180 # Calibration Parameters #\n\
00181 #######################################################################\n\
00182 # These are fixed during camera calibration. Their values will be the #\n\
00183 # same in all messages until the camera is recalibrated. Note that #\n\
00184 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00185 # #\n\
00186 # The internal parameters can be used to warp a raw (distorted) image #\n\
00187 # to: #\n\
00188 # 1. An undistorted image (requires D and K) #\n\
00189 # 2. A rectified image (requires D, K, R) #\n\
00190 # The projection matrix P projects 3D points into the rectified image.#\n\
00191 #######################################################################\n\
00192 \n\
00193 # The image dimensions with which the camera was calibrated. Normally\n\
00194 # this will be the full camera resolution in pixels.\n\
00195 uint32 height\n\
00196 uint32 width\n\
00197 \n\
00198 # The distortion model used. Supported models are listed in\n\
00199 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00200 # simple model of radial and tangential distortion - is sufficent.\n\
00201 string distortion_model\n\
00202 \n\
00203 # The distortion parameters, size depending on the distortion model.\n\
00204 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00205 float64[] D\n\
00206 \n\
00207 # Intrinsic camera matrix for the raw (distorted) images.\n\
00208 # [fx 0 cx]\n\
00209 # K = [ 0 fy cy]\n\
00210 # [ 0 0 1]\n\
00211 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00212 # coordinates using the focal lengths (fx, fy) and principal point\n\
00213 # (cx, cy).\n\
00214 float64[9] K # 3x3 row-major matrix\n\
00215 \n\
00216 # Rectification matrix (stereo cameras only)\n\
00217 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00218 # stereo image plane so that epipolar lines in both stereo images are\n\
00219 # parallel.\n\
00220 float64[9] R # 3x3 row-major matrix\n\
00221 \n\
00222 # Projection/camera matrix\n\
00223 # [fx' 0 cx' Tx]\n\
00224 # P = [ 0 fy' cy' Ty]\n\
00225 # [ 0 0 1 0]\n\
00226 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00227 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00228 # is the normal camera intrinsic matrix for the rectified image.\n\
00229 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00230 # coordinates using the focal lengths (fx', fy') and principal point\n\
00231 # (cx', cy') - these may differ from the values in K.\n\
00232 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00233 # also have R = the identity and P[1:3,1:3] = K.\n\
00234 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00235 # position of the optical center of the second camera in the first\n\
00236 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00237 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00238 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00239 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00240 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00241 # the rectified image is given by:\n\
00242 # [u v w]' = P * [X Y Z 1]'\n\
00243 # x = u / w\n\
00244 # y = v / w\n\
00245 # This holds for both images of a stereo pair.\n\
00246 float64[12] P # 3x4 row-major matrix\n\
00247 \n\
00248 \n\
00249 #######################################################################\n\
00250 # Operational Parameters #\n\
00251 #######################################################################\n\
00252 # These define the image region actually captured by the camera #\n\
00253 # driver. Although they affect the geometry of the output image, they #\n\
00254 # may be changed freely without recalibrating the camera. #\n\
00255 #######################################################################\n\
00256 \n\
00257 # Binning refers here to any camera setting which combines rectangular\n\
00258 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00259 # resolution of the output image to\n\
00260 # (width / binning_x) x (height / binning_y).\n\
00261 # The default values binning_x = binning_y = 0 is considered the same\n\
00262 # as binning_x = binning_y = 1 (no subsampling).\n\
00263 uint32 binning_x\n\
00264 uint32 binning_y\n\
00265 \n\
00266 # Region of interest (subwindow of full camera resolution), given in\n\
00267 # full resolution (unbinned) image coordinates. A particular ROI\n\
00268 # always denotes the same window of pixels on the camera sensor,\n\
00269 # regardless of binning settings.\n\
00270 # The default setting of roi (all values 0) is considered the same as\n\
00271 # full resolution (roi.width = width, roi.height = height).\n\
00272 RegionOfInterest roi\n\
00273 \n\
00274 ================================================================================\n\
00275 MSG: sensor_msgs/RegionOfInterest\n\
00276 # This message is used to specify a region of interest within an image.\n\
00277 #\n\
00278 # When used to specify the ROI setting of the camera when the image was\n\
00279 # taken, the height and width fields should either match the height and\n\
00280 # width fields for the associated image; or height = width = 0\n\
00281 # indicates that the full resolution image was captured.\n\
00282 \n\
00283 uint32 x_offset # Leftmost pixel of the ROI\n\
00284 # (0 if the ROI includes the left edge of the image)\n\
00285 uint32 y_offset # Topmost pixel of the ROI\n\
00286 # (0 if the ROI includes the top edge of the image)\n\
00287 uint32 height # Height of ROI\n\
00288 uint32 width # Width of ROI\n\
00289 \n\
00290 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00291 # ROI in this message. Typically this should be False if the full image\n\
00292 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00293 # used).\n\
00294 bool do_rectify\n\
00295 \n\
00296 ================================================================================\n\
00297 MSG: sensor_msgs/Image\n\
00298 # This message contains an uncompressed image\n\
00299 # (0, 0) is at top-left corner of image\n\
00300 #\n\
00301 \n\
00302 Header header # Header timestamp should be acquisition time of image\n\
00303 # Header frame_id should be optical frame of camera\n\
00304 # origin of frame should be optical center of cameara\n\
00305 # +x should point to the right in the image\n\
00306 # +y should point down in the image\n\
00307 # +z should point into to plane of the image\n\
00308 # If the frame_id here and the frame_id of the CameraInfo\n\
00309 # message associated with the image conflict\n\
00310 # the behavior is undefined\n\
00311 \n\
00312 uint32 height # image height, that is, number of rows\n\
00313 uint32 width # image width, that is, number of columns\n\
00314 \n\
00315 # The legal values for encoding are in file src/image_encodings.cpp\n\
00316 # If you want to standardize a new string format, join\n\
00317 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00318 \n\
00319 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00320 # taken from the list of strings in src/image_encodings.cpp\n\
00321 \n\
00322 uint8 is_bigendian # is this data bigendian?\n\
00323 uint32 step # Full row length in bytes\n\
00324 uint8[] data # actual matrix data, size is (step * rows)\n\
00325 \n\
00326 ================================================================================\n\
00327 MSG: calibration_msgs/CalibrationPattern\n\
00328 Header header\n\
00329 geometry_msgs/Point32[] object_points\n\
00330 ImagePoint[] image_points\n\
00331 uint8 success\n\
00332 \n\
00333 ================================================================================\n\
00334 MSG: geometry_msgs/Point32\n\
00335 # This contains the position of a point in free space(with 32 bits of precision).\n\
00336 # It is recommeded to use Point wherever possible instead of Point32. \n\
00337 # \n\
00338 # This recommendation is to promote interoperability. \n\
00339 #\n\
00340 # This message is designed to take up less space when sending\n\
00341 # lots of points at once, as in the case of a PointCloud. \n\
00342 \n\
00343 float32 x\n\
00344 float32 y\n\
00345 float32 z\n\
00346 ================================================================================\n\
00347 MSG: calibration_msgs/LaserMeasurement\n\
00348 Header header\n\
00349 string laser_id\n\
00350 sensor_msgs/JointState[] joint_points\n\
00351 \n\
00352 # True -> The extra debugging fields are populated\n\
00353 bool verbose\n\
00354 \n\
00355 # Extra, partially processed data. Only needed for debugging\n\
00356 calibration_msgs/DenseLaserSnapshot snapshot\n\
00357 sensor_msgs/Image laser_image\n\
00358 calibration_msgs/CalibrationPattern image_features\n\
00359 calibration_msgs/JointStateCalibrationPattern joint_features\n\
00360 \n\
00361 ================================================================================\n\
00362 MSG: sensor_msgs/JointState\n\
00363 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00364 #\n\
00365 # The state of each joint (revolute or prismatic) is defined by:\n\
00366 # * the position of the joint (rad or m),\n\
00367 # * the velocity of the joint (rad/s or m/s) and \n\
00368 # * the effort that is applied in the joint (Nm or N).\n\
00369 #\n\
00370 # Each joint is uniquely identified by its name\n\
00371 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00372 # in one message have to be recorded at the same time.\n\
00373 #\n\
00374 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00375 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00376 # effort associated with them, you can leave the effort array empty. \n\
00377 #\n\
00378 # All arrays in this message should have the same size, or be empty.\n\
00379 # This is the only way to uniquely associate the joint name with the correct\n\
00380 # states.\n\
00381 \n\
00382 \n\
00383 Header header\n\
00384 \n\
00385 string[] name\n\
00386 float64[] position\n\
00387 float64[] velocity\n\
00388 float64[] effort\n\
00389 \n\
00390 ================================================================================\n\
00391 MSG: calibration_msgs/DenseLaserSnapshot\n\
00392 # Provides all the state & sensor information for\n\
00393 # a single sweep of laser attached to some mechanism.\n\
00394 # Most likely, this will be used with PR2's tilting laser mechanism\n\
00395 Header header\n\
00396 \n\
00397 # Store the laser intrinsics. This is very similar to the\n\
00398 # intrinsics commonly stored in \n\
00399 float32 angle_min # start angle of the scan [rad]\n\
00400 float32 angle_max # end angle of the scan [rad]\n\
00401 float32 angle_increment # angular distance between measurements [rad]\n\
00402 float32 time_increment # time between measurements [seconds]\n\
00403 float32 range_min # minimum range value [m]\n\
00404 float32 range_max # maximum range value [m]\n\
00405 \n\
00406 # Define the size of the binary data\n\
00407 uint32 readings_per_scan # (Width)\n\
00408 uint32 num_scans # (Height)\n\
00409 \n\
00410 # 2D Arrays storing laser data.\n\
00411 # We can think of each type data as being a single channel image.\n\
00412 # Each row of the image has data from a single scan, and scans are\n\
00413 # concatenated to form the entire 'image'.\n\
00414 float32[] ranges # (Image data)\n\
00415 float32[] intensities # (Image data)\n\
00416 \n\
00417 # Store the start time of each scan\n\
00418 time[] scan_start\n\
00419 \n\
00420 ================================================================================\n\
00421 MSG: calibration_msgs/JointStateCalibrationPattern\n\
00422 Header header\n\
00423 geometry_msgs/Point32[] object_points\n\
00424 sensor_msgs/JointState[] joint_points\n\
00425 \n\
00426 \n\
00427 ================================================================================\n\
00428 MSG: calibration_msgs/ChainMeasurement\n\
00429 Header header\n\
00430 string chain_id\n\
00431 sensor_msgs/JointState chain_state\n\
00432 \n\
00433 "; }
00434 public:
00435 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00436
00437 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00438
00439 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00440 {
00441 ros::serialization::OStream stream(write_ptr, 1000000000);
00442 ros::serialization::serialize(stream, sample_id);
00443 ros::serialization::serialize(stream, target_id);
00444 ros::serialization::serialize(stream, chain_id);
00445 ros::serialization::serialize(stream, M_cam);
00446 ros::serialization::serialize(stream, M_laser);
00447 ros::serialization::serialize(stream, M_chain);
00448 return stream.getData();
00449 }
00450
00451 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00452 {
00453 ros::serialization::IStream stream(read_ptr, 1000000000);
00454 ros::serialization::deserialize(stream, sample_id);
00455 ros::serialization::deserialize(stream, target_id);
00456 ros::serialization::deserialize(stream, chain_id);
00457 ros::serialization::deserialize(stream, M_cam);
00458 ros::serialization::deserialize(stream, M_laser);
00459 ros::serialization::deserialize(stream, M_chain);
00460 return stream.getData();
00461 }
00462
00463 ROS_DEPRECATED virtual uint32_t serializationLength() const
00464 {
00465 uint32_t size = 0;
00466 size += ros::serialization::serializationLength(sample_id);
00467 size += ros::serialization::serializationLength(target_id);
00468 size += ros::serialization::serializationLength(chain_id);
00469 size += ros::serialization::serializationLength(M_cam);
00470 size += ros::serialization::serializationLength(M_laser);
00471 size += ros::serialization::serializationLength(M_chain);
00472 return size;
00473 }
00474
00475 typedef boost::shared_ptr< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> > Ptr;
00476 typedef boost::shared_ptr< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> const> ConstPtr;
00477 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00478 };
00479 typedef ::calibration_msgs::RobotMeasurement_<std::allocator<void> > RobotMeasurement;
00480
00481 typedef boost::shared_ptr< ::calibration_msgs::RobotMeasurement> RobotMeasurementPtr;
00482 typedef boost::shared_ptr< ::calibration_msgs::RobotMeasurement const> RobotMeasurementConstPtr;
00483
00484
00485 template<typename ContainerAllocator>
00486 std::ostream& operator<<(std::ostream& s, const ::calibration_msgs::RobotMeasurement_<ContainerAllocator> & v)
00487 {
00488 ros::message_operations::Printer< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> >::stream(s, "", v);
00489 return s;}
00490
00491 }
00492
00493 namespace ros
00494 {
00495 namespace message_traits
00496 {
00497 template<class ContainerAllocator> struct IsMessage< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> > : public TrueType {};
00498 template<class ContainerAllocator> struct IsMessage< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> const> : public TrueType {};
00499 template<class ContainerAllocator>
00500 struct MD5Sum< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> > {
00501 static const char* value()
00502 {
00503 return "5faeacd55902385628948423d864d702";
00504 }
00505
00506 static const char* value(const ::calibration_msgs::RobotMeasurement_<ContainerAllocator> &) { return value(); }
00507 static const uint64_t static_value1 = 0x5faeacd559023856ULL;
00508 static const uint64_t static_value2 = 0x28948423d864d702ULL;
00509 };
00510
00511 template<class ContainerAllocator>
00512 struct DataType< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> > {
00513 static const char* value()
00514 {
00515 return "calibration_msgs/RobotMeasurement";
00516 }
00517
00518 static const char* value(const ::calibration_msgs::RobotMeasurement_<ContainerAllocator> &) { return value(); }
00519 };
00520
00521 template<class ContainerAllocator>
00522 struct Definition< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> > {
00523 static const char* value()
00524 {
00525 return "string sample_id # Tag to figure out which yaml file this was generated from\n\
00526 \n\
00527 string target_id # Defines the target that we were sensing.\n\
00528 string chain_id # Defines where this target was attached\n\
00529 \n\
00530 CameraMeasurement[] M_cam\n\
00531 LaserMeasurement[] M_laser\n\
00532 ChainMeasurement[] M_chain\n\
00533 \n\
00534 ================================================================================\n\
00535 MSG: calibration_msgs/CameraMeasurement\n\
00536 Header header\n\
00537 string camera_id\n\
00538 ImagePoint[] image_points\n\
00539 sensor_msgs/CameraInfo cam_info\n\
00540 \n\
00541 # True -> The extra debugging fields are populated\n\
00542 bool verbose\n\
00543 \n\
00544 # Extra, partially processed data. Only needed for debugging\n\
00545 sensor_msgs/Image image\n\
00546 sensor_msgs/Image image_rect\n\
00547 calibration_msgs/CalibrationPattern features\n\
00548 \n\
00549 ================================================================================\n\
00550 MSG: std_msgs/Header\n\
00551 # Standard metadata for higher-level stamped data types.\n\
00552 # This is generally used to communicate timestamped data \n\
00553 # in a particular coordinate frame.\n\
00554 # \n\
00555 # sequence ID: consecutively increasing ID \n\
00556 uint32 seq\n\
00557 #Two-integer timestamp that is expressed as:\n\
00558 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00559 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00560 # time-handling sugar is provided by the client library\n\
00561 time stamp\n\
00562 #Frame this data is associated with\n\
00563 # 0: no frame\n\
00564 # 1: global frame\n\
00565 string frame_id\n\
00566 \n\
00567 ================================================================================\n\
00568 MSG: calibration_msgs/ImagePoint\n\
00569 float32 x\n\
00570 float32 y\n\
00571 \n\
00572 ================================================================================\n\
00573 MSG: sensor_msgs/CameraInfo\n\
00574 # This message defines meta information for a camera. It should be in a\n\
00575 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00576 # image topics named:\n\
00577 #\n\
00578 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00579 # image - monochrome, distorted\n\
00580 # image_color - color, distorted\n\
00581 # image_rect - monochrome, rectified\n\
00582 # image_rect_color - color, rectified\n\
00583 #\n\
00584 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00585 # for producing the four processed image topics from image_raw and\n\
00586 # camera_info. The meaning of the camera parameters are described in\n\
00587 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00588 #\n\
00589 # The image_geometry package provides a user-friendly interface to\n\
00590 # common operations using this meta information. If you want to, e.g.,\n\
00591 # project a 3d point into image coordinates, we strongly recommend\n\
00592 # using image_geometry.\n\
00593 #\n\
00594 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00595 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00596 # indicates an uncalibrated camera.\n\
00597 \n\
00598 #######################################################################\n\
00599 # Image acquisition info #\n\
00600 #######################################################################\n\
00601 \n\
00602 # Time of image acquisition, camera coordinate frame ID\n\
00603 Header header # Header timestamp should be acquisition time of image\n\
00604 # Header frame_id should be optical frame of camera\n\
00605 # origin of frame should be optical center of camera\n\
00606 # +x should point to the right in the image\n\
00607 # +y should point down in the image\n\
00608 # +z should point into the plane of the image\n\
00609 \n\
00610 \n\
00611 #######################################################################\n\
00612 # Calibration Parameters #\n\
00613 #######################################################################\n\
00614 # These are fixed during camera calibration. Their values will be the #\n\
00615 # same in all messages until the camera is recalibrated. Note that #\n\
00616 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00617 # #\n\
00618 # The internal parameters can be used to warp a raw (distorted) image #\n\
00619 # to: #\n\
00620 # 1. An undistorted image (requires D and K) #\n\
00621 # 2. A rectified image (requires D, K, R) #\n\
00622 # The projection matrix P projects 3D points into the rectified image.#\n\
00623 #######################################################################\n\
00624 \n\
00625 # The image dimensions with which the camera was calibrated. Normally\n\
00626 # this will be the full camera resolution in pixels.\n\
00627 uint32 height\n\
00628 uint32 width\n\
00629 \n\
00630 # The distortion model used. Supported models are listed in\n\
00631 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00632 # simple model of radial and tangential distortion - is sufficent.\n\
00633 string distortion_model\n\
00634 \n\
00635 # The distortion parameters, size depending on the distortion model.\n\
00636 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00637 float64[] D\n\
00638 \n\
00639 # Intrinsic camera matrix for the raw (distorted) images.\n\
00640 # [fx 0 cx]\n\
00641 # K = [ 0 fy cy]\n\
00642 # [ 0 0 1]\n\
00643 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00644 # coordinates using the focal lengths (fx, fy) and principal point\n\
00645 # (cx, cy).\n\
00646 float64[9] K # 3x3 row-major matrix\n\
00647 \n\
00648 # Rectification matrix (stereo cameras only)\n\
00649 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00650 # stereo image plane so that epipolar lines in both stereo images are\n\
00651 # parallel.\n\
00652 float64[9] R # 3x3 row-major matrix\n\
00653 \n\
00654 # Projection/camera matrix\n\
00655 # [fx' 0 cx' Tx]\n\
00656 # P = [ 0 fy' cy' Ty]\n\
00657 # [ 0 0 1 0]\n\
00658 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00659 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00660 # is the normal camera intrinsic matrix for the rectified image.\n\
00661 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00662 # coordinates using the focal lengths (fx', fy') and principal point\n\
00663 # (cx', cy') - these may differ from the values in K.\n\
00664 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00665 # also have R = the identity and P[1:3,1:3] = K.\n\
00666 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00667 # position of the optical center of the second camera in the first\n\
00668 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00669 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00670 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00671 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00672 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00673 # the rectified image is given by:\n\
00674 # [u v w]' = P * [X Y Z 1]'\n\
00675 # x = u / w\n\
00676 # y = v / w\n\
00677 # This holds for both images of a stereo pair.\n\
00678 float64[12] P # 3x4 row-major matrix\n\
00679 \n\
00680 \n\
00681 #######################################################################\n\
00682 # Operational Parameters #\n\
00683 #######################################################################\n\
00684 # These define the image region actually captured by the camera #\n\
00685 # driver. Although they affect the geometry of the output image, they #\n\
00686 # may be changed freely without recalibrating the camera. #\n\
00687 #######################################################################\n\
00688 \n\
00689 # Binning refers here to any camera setting which combines rectangular\n\
00690 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00691 # resolution of the output image to\n\
00692 # (width / binning_x) x (height / binning_y).\n\
00693 # The default values binning_x = binning_y = 0 is considered the same\n\
00694 # as binning_x = binning_y = 1 (no subsampling).\n\
00695 uint32 binning_x\n\
00696 uint32 binning_y\n\
00697 \n\
00698 # Region of interest (subwindow of full camera resolution), given in\n\
00699 # full resolution (unbinned) image coordinates. A particular ROI\n\
00700 # always denotes the same window of pixels on the camera sensor,\n\
00701 # regardless of binning settings.\n\
00702 # The default setting of roi (all values 0) is considered the same as\n\
00703 # full resolution (roi.width = width, roi.height = height).\n\
00704 RegionOfInterest roi\n\
00705 \n\
00706 ================================================================================\n\
00707 MSG: sensor_msgs/RegionOfInterest\n\
00708 # This message is used to specify a region of interest within an image.\n\
00709 #\n\
00710 # When used to specify the ROI setting of the camera when the image was\n\
00711 # taken, the height and width fields should either match the height and\n\
00712 # width fields for the associated image; or height = width = 0\n\
00713 # indicates that the full resolution image was captured.\n\
00714 \n\
00715 uint32 x_offset # Leftmost pixel of the ROI\n\
00716 # (0 if the ROI includes the left edge of the image)\n\
00717 uint32 y_offset # Topmost pixel of the ROI\n\
00718 # (0 if the ROI includes the top edge of the image)\n\
00719 uint32 height # Height of ROI\n\
00720 uint32 width # Width of ROI\n\
00721 \n\
00722 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00723 # ROI in this message. Typically this should be False if the full image\n\
00724 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00725 # used).\n\
00726 bool do_rectify\n\
00727 \n\
00728 ================================================================================\n\
00729 MSG: sensor_msgs/Image\n\
00730 # This message contains an uncompressed image\n\
00731 # (0, 0) is at top-left corner of image\n\
00732 #\n\
00733 \n\
00734 Header header # Header timestamp should be acquisition time of image\n\
00735 # Header frame_id should be optical frame of camera\n\
00736 # origin of frame should be optical center of cameara\n\
00737 # +x should point to the right in the image\n\
00738 # +y should point down in the image\n\
00739 # +z should point into to plane of the image\n\
00740 # If the frame_id here and the frame_id of the CameraInfo\n\
00741 # message associated with the image conflict\n\
00742 # the behavior is undefined\n\
00743 \n\
00744 uint32 height # image height, that is, number of rows\n\
00745 uint32 width # image width, that is, number of columns\n\
00746 \n\
00747 # The legal values for encoding are in file src/image_encodings.cpp\n\
00748 # If you want to standardize a new string format, join\n\
00749 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00750 \n\
00751 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00752 # taken from the list of strings in src/image_encodings.cpp\n\
00753 \n\
00754 uint8 is_bigendian # is this data bigendian?\n\
00755 uint32 step # Full row length in bytes\n\
00756 uint8[] data # actual matrix data, size is (step * rows)\n\
00757 \n\
00758 ================================================================================\n\
00759 MSG: calibration_msgs/CalibrationPattern\n\
00760 Header header\n\
00761 geometry_msgs/Point32[] object_points\n\
00762 ImagePoint[] image_points\n\
00763 uint8 success\n\
00764 \n\
00765 ================================================================================\n\
00766 MSG: geometry_msgs/Point32\n\
00767 # This contains the position of a point in free space(with 32 bits of precision).\n\
00768 # It is recommeded to use Point wherever possible instead of Point32. \n\
00769 # \n\
00770 # This recommendation is to promote interoperability. \n\
00771 #\n\
00772 # This message is designed to take up less space when sending\n\
00773 # lots of points at once, as in the case of a PointCloud. \n\
00774 \n\
00775 float32 x\n\
00776 float32 y\n\
00777 float32 z\n\
00778 ================================================================================\n\
00779 MSG: calibration_msgs/LaserMeasurement\n\
00780 Header header\n\
00781 string laser_id\n\
00782 sensor_msgs/JointState[] joint_points\n\
00783 \n\
00784 # True -> The extra debugging fields are populated\n\
00785 bool verbose\n\
00786 \n\
00787 # Extra, partially processed data. Only needed for debugging\n\
00788 calibration_msgs/DenseLaserSnapshot snapshot\n\
00789 sensor_msgs/Image laser_image\n\
00790 calibration_msgs/CalibrationPattern image_features\n\
00791 calibration_msgs/JointStateCalibrationPattern joint_features\n\
00792 \n\
00793 ================================================================================\n\
00794 MSG: sensor_msgs/JointState\n\
00795 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00796 #\n\
00797 # The state of each joint (revolute or prismatic) is defined by:\n\
00798 # * the position of the joint (rad or m),\n\
00799 # * the velocity of the joint (rad/s or m/s) and \n\
00800 # * the effort that is applied in the joint (Nm or N).\n\
00801 #\n\
00802 # Each joint is uniquely identified by its name\n\
00803 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00804 # in one message have to be recorded at the same time.\n\
00805 #\n\
00806 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00807 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00808 # effort associated with them, you can leave the effort array empty. \n\
00809 #\n\
00810 # All arrays in this message should have the same size, or be empty.\n\
00811 # This is the only way to uniquely associate the joint name with the correct\n\
00812 # states.\n\
00813 \n\
00814 \n\
00815 Header header\n\
00816 \n\
00817 string[] name\n\
00818 float64[] position\n\
00819 float64[] velocity\n\
00820 float64[] effort\n\
00821 \n\
00822 ================================================================================\n\
00823 MSG: calibration_msgs/DenseLaserSnapshot\n\
00824 # Provides all the state & sensor information for\n\
00825 # a single sweep of laser attached to some mechanism.\n\
00826 # Most likely, this will be used with PR2's tilting laser mechanism\n\
00827 Header header\n\
00828 \n\
00829 # Store the laser intrinsics. This is very similar to the\n\
00830 # intrinsics commonly stored in \n\
00831 float32 angle_min # start angle of the scan [rad]\n\
00832 float32 angle_max # end angle of the scan [rad]\n\
00833 float32 angle_increment # angular distance between measurements [rad]\n\
00834 float32 time_increment # time between measurements [seconds]\n\
00835 float32 range_min # minimum range value [m]\n\
00836 float32 range_max # maximum range value [m]\n\
00837 \n\
00838 # Define the size of the binary data\n\
00839 uint32 readings_per_scan # (Width)\n\
00840 uint32 num_scans # (Height)\n\
00841 \n\
00842 # 2D Arrays storing laser data.\n\
00843 # We can think of each type data as being a single channel image.\n\
00844 # Each row of the image has data from a single scan, and scans are\n\
00845 # concatenated to form the entire 'image'.\n\
00846 float32[] ranges # (Image data)\n\
00847 float32[] intensities # (Image data)\n\
00848 \n\
00849 # Store the start time of each scan\n\
00850 time[] scan_start\n\
00851 \n\
00852 ================================================================================\n\
00853 MSG: calibration_msgs/JointStateCalibrationPattern\n\
00854 Header header\n\
00855 geometry_msgs/Point32[] object_points\n\
00856 sensor_msgs/JointState[] joint_points\n\
00857 \n\
00858 \n\
00859 ================================================================================\n\
00860 MSG: calibration_msgs/ChainMeasurement\n\
00861 Header header\n\
00862 string chain_id\n\
00863 sensor_msgs/JointState chain_state\n\
00864 \n\
00865 ";
00866 }
00867
00868 static const char* value(const ::calibration_msgs::RobotMeasurement_<ContainerAllocator> &) { return value(); }
00869 };
00870
00871 }
00872 }
00873
00874 namespace ros
00875 {
00876 namespace serialization
00877 {
00878
00879 template<class ContainerAllocator> struct Serializer< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> >
00880 {
00881 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00882 {
00883 stream.next(m.sample_id);
00884 stream.next(m.target_id);
00885 stream.next(m.chain_id);
00886 stream.next(m.M_cam);
00887 stream.next(m.M_laser);
00888 stream.next(m.M_chain);
00889 }
00890
00891 ROS_DECLARE_ALLINONE_SERIALIZER;
00892 };
00893 }
00894 }
00895
00896 namespace ros
00897 {
00898 namespace message_operations
00899 {
00900
00901 template<class ContainerAllocator>
00902 struct Printer< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> >
00903 {
00904 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::calibration_msgs::RobotMeasurement_<ContainerAllocator> & v)
00905 {
00906 s << indent << "sample_id: ";
00907 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.sample_id);
00908 s << indent << "target_id: ";
00909 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.target_id);
00910 s << indent << "chain_id: ";
00911 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.chain_id);
00912 s << indent << "M_cam[]" << std::endl;
00913 for (size_t i = 0; i < v.M_cam.size(); ++i)
00914 {
00915 s << indent << " M_cam[" << i << "]: ";
00916 s << std::endl;
00917 s << indent;
00918 Printer< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::stream(s, indent + " ", v.M_cam[i]);
00919 }
00920 s << indent << "M_laser[]" << std::endl;
00921 for (size_t i = 0; i < v.M_laser.size(); ++i)
00922 {
00923 s << indent << " M_laser[" << i << "]: ";
00924 s << std::endl;
00925 s << indent;
00926 Printer< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::stream(s, indent + " ", v.M_laser[i]);
00927 }
00928 s << indent << "M_chain[]" << std::endl;
00929 for (size_t i = 0; i < v.M_chain.size(); ++i)
00930 {
00931 s << indent << " M_chain[" << i << "]: ";
00932 s << std::endl;
00933 s << indent;
00934 Printer< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> >::stream(s, indent + " ", v.M_chain[i]);
00935 }
00936 }
00937 };
00938
00939
00940 }
00941 }
00942
00943 #endif // CALIBRATION_MSGS_MESSAGE_ROBOTMEASUREMENT_H
00944
