ArticulatedObjectMsg.h

Go to the documentation of this file.

/* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-alufr-ros-pkg/doc_stacks/2012-12-26_15-13-16.045312/articulation/articulation_msgs/msg/ArticulatedObjectMsg.msg */
#ifndef ARTICULATION_MSGS_MESSAGE_ARTICULATEDOBJECTMSG_H
#define ARTICULATION_MSGS_MESSAGE_ARTICULATEDOBJECTMSG_H
#include <string>
#include <vector>
#include <map>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/time.h"

#include "ros/macros.h"

#include "ros/assert.h"

#include "std_msgs/Header.h"
#include "articulation_msgs/TrackMsg.h"
#include "articulation_msgs/ParamMsg.h"
#include "articulation_msgs/ModelMsg.h"
#include "visualization_msgs/MarkerArray.h"

namespace articulation_msgs
{
template <class ContainerAllocator>
struct ArticulatedObjectMsg_ {
  typedef ArticulatedObjectMsg_<ContainerAllocator> Type;

  ArticulatedObjectMsg_()
  : header()
  , parts()
  , params()
  , models()
  , markers()
  {
  }

  ArticulatedObjectMsg_(const ContainerAllocator& _alloc)
  : header(_alloc)
  , parts(_alloc)
  , params(_alloc)
  , models(_alloc)
  , markers(_alloc)
  {
  }

  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
   ::std_msgs::Header_<ContainerAllocator>  header;

  typedef std::vector< ::articulation_msgs::TrackMsg_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::articulation_msgs::TrackMsg_<ContainerAllocator> >::other >  _parts_type;
  std::vector< ::articulation_msgs::TrackMsg_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::articulation_msgs::TrackMsg_<ContainerAllocator> >::other >  parts;

  typedef std::vector< ::articulation_msgs::ParamMsg_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::articulation_msgs::ParamMsg_<ContainerAllocator> >::other >  _params_type;
  std::vector< ::articulation_msgs::ParamMsg_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::articulation_msgs::ParamMsg_<ContainerAllocator> >::other >  params;

  typedef std::vector< ::articulation_msgs::ModelMsg_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::articulation_msgs::ModelMsg_<ContainerAllocator> >::other >  _models_type;
  std::vector< ::articulation_msgs::ModelMsg_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::articulation_msgs::ModelMsg_<ContainerAllocator> >::other >  models;

  typedef  ::visualization_msgs::MarkerArray_<ContainerAllocator>  _markers_type;
   ::visualization_msgs::MarkerArray_<ContainerAllocator>  markers;


  typedef boost::shared_ptr< ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct ArticulatedObjectMsg
typedef  ::articulation_msgs::ArticulatedObjectMsg_<std::allocator<void> > ArticulatedObjectMsg;

typedef boost::shared_ptr< ::articulation_msgs::ArticulatedObjectMsg> ArticulatedObjectMsgPtr;
typedef boost::shared_ptr< ::articulation_msgs::ArticulatedObjectMsg const> ArticulatedObjectMsgConstPtr;


template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const  ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator> & v)
{
  ros::message_operations::Printer< ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator> >::stream(s, "", v);
  return s;}

} // namespace articulation_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator> > {
  static const char* value() 
  {
    return "e76ceea8d39bebe2f3b084acdff7a807";
  }

  static const char* value(const  ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xe76ceea8d39bebe2ULL;
  static const uint64_t static_value2 = 0xf3b084acdff7a807ULL;
};

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

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

template<class ContainerAllocator>
struct Definition< ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator> > {
  static const char* value() 
  {
    return "std_msgs/Header header\n\
\n\
articulation_msgs/TrackMsg[] parts    # observed trajectories for each object part \n\
articulation_msgs/ParamMsg[] params   # global parameters\n\
articulation_msgs/ModelMsg[] models       # models, describing relationships between parts\n\
visualization_msgs/MarkerArray markers # marker visualization of models/object \n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: articulation_msgs/TrackMsg\n\
# Single kinematic trajectory\n\
#\n\
# This message contains a kinematic trajectory. The trajectory is specified\n\
# as a vector of 6D poses. An additional flag, track_type, indicates whether\n\
# the track is valid, and whether it includes orientation. The track id\n\
# can be used for automatic coloring in the RVIZ track plugin, and can be \n\
# freely chosen by the client. \n\
#\n\
# A model is fitting only from the trajectory stored in the pose[]-vector. \n\
# Additional information may be associated to each pose using the channels\n\
# vector, with arbitrary # fields (e.g., to include applied/measured forces). \n\
#\n\
# After model evaluation,\n\
# also the associated configurations of the object are stored in the channels,\n\
# named \"q[0]\"..\"q[DOF-1]\", where DOF is the number of degrees of freedom.\n\
# Model evaluation also projects the poses in the pose vector onto the model,\n\
# and stores these ideal poses in the vector pose_projected. Further, during model\n\
# evaluation, a new set of (uniform) configurations over the valid configuration\n\
# range is sampled, and the result is stored in pose_resampled.\n\
# The vector pose_flags contains additional display flags for the poses in the\n\
# pose vector, for example, whether a pose is visible and/or\n\
# the end of a trajectory segment. At the moment, this is only used by the\n\
# prior_model_learner.\n\
#\n\
\n\
std_msgs/Header header                        # frame and timestamp\n\
int32 id                                # used-specified track id\n\
\n\
geometry_msgs/Pose[] pose               # sequence of poses, defining the observed trajectory\n\
std_msgs/Header[] pose_headers                   # Timestamp and frame for each pose (and pose_projected)\n\
geometry_msgs/Pose[] pose_projected     # sequence of poses, projected to the model \n\
                                        # (after model evaluation)\n\
geometry_msgs/Pose[] pose_resampled     # sequence of poses, re-sampled from the model in\n\
                                        # the valid configuration range\n\
uint32[] pose_flags                     # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT\n\
\n\
uint32 POSE_VISIBLE=1\n\
uint32 POSE_END_OF_SEGMENT=2\n\
\n\
# Each channel should have the same number of elements as pose array, \n\
# and the data in each channel should correspond 1:1 with each pose\n\
# possible channels: \"width\", \"height\", \"rgb\", ...\n\
sensor_msgs/ChannelFloat32[] channels       \n\
\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: sensor_msgs/ChannelFloat32\n\
# This message is used by the PointCloud message to hold optional data\n\
# associated with each point in the cloud. The length of the values\n\
# array should be the same as the length of the points array in the\n\
# PointCloud, and each value should be associated with the corresponding\n\
# point.\n\
\n\
# Channel names in existing practice include:\n\
#   \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
#              This is opposite to usual conventions but remains for\n\
#              historical reasons. The newer PointCloud2 message has no\n\
#              such problem.\n\
#   \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
#           (R,G,B) values packed into the least significant 24 bits,\n\
#           in order.\n\
#   \"intensity\" - laser or pixel intensity.\n\
#   \"distance\"\n\
\n\
# The channel name should give semantics of the channel (e.g.\n\
# \"intensity\" instead of \"value\").\n\
string name\n\
\n\
# The values array should be 1-1 with the elements of the associated\n\
# PointCloud.\n\
float32[] values\n\
\n\
================================================================================\n\
MSG: articulation_msgs/ParamMsg\n\
# Single parameter passed to or from model fitting\n\
#\n\
# This mechanism allows to flexibly pass parameters to \n\
# model fitting (and vice versa). Note that these parameters \n\
# are model-specific: A client may supply additional\n\
# parameters to the model estimator, and, similarly, a estimator\n\
# may add the estimated model parameters to the model message.\n\
# When the model is then evaluated, for example to make predictions\n\
# or to compute the likelihood, the model class can then use\n\
# these parameters.\n\
#\n\
# A parameter has a name, a value, and a type. The type globally\n\
# indicates whether it is a prior parameter (prior to model fitting),\n\
# or a model parameter (found during model fitting, using a maximum-\n\
# likelihood estimator), or a cached evaluation (e.g., the likelihood\n\
# or the BIC are a typical \"side\"-product of model estimation, and\n\
# can therefore already be cached).\n\
#\n\
# For a list of currently used parameters, see the documentation at\n\
# http://www.ros.org/wiki/articulation_models\n\
#\n\
\n\
uint8 PRIOR=0   # indicates a prior model parameter \n\
                # (e.g., \"sigma_position\")\n\
uint8 PARAM=1   # indicates a estimated model parameter \n\
                # (e.g., \"rot_radius\", the estimated radius)\n\
uint8 EVAL=2    # indicates a cached evaluation of the model, given \n\
                # the current trajectory\n\
                # (e.g., \"loglikelihood\", the log likelihood of the\n\
                # data, given the model and its parameters)\n\
\n\
string name     # name of the parameter\n\
float64 value   # value of the parameter\n\
uint8 type      # type of the parameter (PRIOR, PARAM, EVAL)\n\
\n\
\n\
================================================================================\n\
MSG: articulation_msgs/ModelMsg\n\
# Single kinematic model\n\
#\n\
# A kinematic model is defined by its model class name, and a set of parameters. \n\
# The client may additionally specify a model id, that can be used to colorize the\n\
# model when visualized using the RVIZ model display.\n\
# \n\
# For a list of currently implemented models, see the documetation at\n\
# http://www.ros.org/wiki/articulation_models\n\
#\n\
#\n\
\n\
std_msgs/Header header                        # frame and timestamp\n\
\n\
int32 id                             # user specified model id\n\
string name                          # name of the model family (e.g. \"rotational\",\n\
                                     # \"prismatic\", \"pca-gp\", \"rigid\")\n\
articulation_msgs/ParamMsg[] params  # model parameters\n\
articulation_msgs/TrackMsg track     # trajectory from which the model is estimated, or\n\
                                     # that is evaluated using the model\n\
\n\
================================================================================\n\
MSG: visualization_msgs/MarkerArray\n\
Marker[] markers\n\
\n\
================================================================================\n\
MSG: visualization_msgs/Marker\n\
# See http://www.ros.org/wiki/rviz/DisplayTypes/Marker and http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes for more information on using this message with rviz\n\
\n\
uint8 ARROW=0\n\
uint8 CUBE=1\n\
uint8 SPHERE=2\n\
uint8 CYLINDER=3\n\
uint8 LINE_STRIP=4\n\
uint8 LINE_LIST=5\n\
uint8 CUBE_LIST=6\n\
uint8 SPHERE_LIST=7\n\
uint8 POINTS=8\n\
uint8 TEXT_VIEW_FACING=9\n\
uint8 MESH_RESOURCE=10\n\
uint8 TRIANGLE_LIST=11\n\
\n\
uint8 ADD=0\n\
uint8 MODIFY=0\n\
uint8 DELETE=2\n\
\n\
Header header                        # header for time/frame information\n\
string ns                            # Namespace to place this object in... used in conjunction with id to create a unique name for the object\n\
int32 id                                         # object ID useful in conjunction with the namespace for manipulating and deleting the object later\n\
int32 type                                     # Type of object\n\
int32 action                           # 0 add/modify an object, 1 (deprecated), 2 deletes an object\n\
geometry_msgs/Pose pose                 # Pose of the object\n\
geometry_msgs/Vector3 scale             # Scale of the object 1,1,1 means default (usually 1 meter square)\n\
std_msgs/ColorRGBA color             # Color [0.0-1.0]\n\
duration lifetime                    # How long the object should last before being automatically deleted.  0 means forever\n\
bool frame_locked                    # If this marker should be frame-locked, i.e. retransformed into its frame every timestep\n\
\n\
#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)\n\
geometry_msgs/Point[] points\n\
#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)\n\
#number of colors must either be 0 or equal to the number of points\n\
#NOTE: alpha is not yet used\n\
std_msgs/ColorRGBA[] colors\n\
\n\
# NOTE: only used for text markers\n\
string text\n\
\n\
# NOTE: only used for MESH_RESOURCE markers\n\
string mesh_resource\n\
bool mesh_use_embedded_materials\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
================================================================================\n\
MSG: std_msgs/ColorRGBA\n\
float32 r\n\
float32 g\n\
float32 b\n\
float32 a\n\
\n\
";
  }

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

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.header);
    stream.next(m.parts);
    stream.next(m.params);
    stream.next(m.models);
    stream.next(m.markers);
  }

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

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::articulation_msgs::ArticulatedObjectMsg_<ContainerAllocator> & v) 
  {
    s << indent << "header: ";
s << std::endl;
    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
    s << indent << "parts[]" << std::endl;
    for (size_t i = 0; i < v.parts.size(); ++i)
    {
      s << indent << "  parts[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::articulation_msgs::TrackMsg_<ContainerAllocator> >::stream(s, indent + "    ", v.parts[i]);
    }
    s << indent << "params[]" << std::endl;
    for (size_t i = 0; i < v.params.size(); ++i)
    {
      s << indent << "  params[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::articulation_msgs::ParamMsg_<ContainerAllocator> >::stream(s, indent + "    ", v.params[i]);
    }
    s << indent << "models[]" << std::endl;
    for (size_t i = 0; i < v.models.size(); ++i)
    {
      s << indent << "  models[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::articulation_msgs::ModelMsg_<ContainerAllocator> >::stream(s, indent + "    ", v.models[i]);
    }
    s << indent << "markers: ";
s << std::endl;
    Printer< ::visualization_msgs::MarkerArray_<ContainerAllocator> >::stream(s, indent + "  ", v.markers);
  }
};


} // namespace message_operations
} // namespace ros

#endif // ARTICULATION_MSGS_MESSAGE_ARTICULATEDOBJECTMSG_H