/*M///////////////////////////////////////////////////////////////////////////////////////
 //
 //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
 //
 //  By downloading, copying, installing or using the software you agree to this license.
 //  If you do not agree to this license, do not download, install,
 //  copy or use the software.
 //
 //
 //                           License Agreement
 //                For Open Source Computer Vision Library
 //
 // Copyright (C) 2013, OpenCV Foundation, all rights reserved.
 // Third party copyrights are property of their respective owners.
 //
 // Redistribution and use in source and binary forms, with or without modification,
 // are permitted provided that the following conditions are met:
 //
 //   * Redistribution's of source code must retain the above copyright notice,
 //     this list of conditions and the following disclaimer.
 //
 //   * Redistribution's in binary form must reproduce the above copyright notice,
 //     this list of conditions and the following disclaimer in the documentation
 //     and/or other materials provided with the distribution.
 //
 //   * The name of the copyright holders may not be used to endorse or promote products
 //     derived from this software without specific prior written permission.
 //
 // This software is provided by the copyright holders and contributors "as is" and
 // any express or implied warranties, including, but not limited to, the implied
 // warranties of merchantability and fitness for a particular purpose are disclaimed.
 // In no event shall the Intel Corporation or contributors be liable for any direct,
 // indirect, incidental, special, exemplary, or consequential damages
 // (including, but not limited to, procurement of substitute goods or services;
 // loss of use, data, or profits; or business interruption) however caused
 // and on any theory of liability, whether in contract, strict liability,
 // or tort (including negligence or otherwise) arising in any way out of
 // the use of this software, even if advised of the possibility of such damage.
 //
 //M*/

#include "precomp.hpp"
#include <time.h>
#include "PFSolver.hpp"
#include "TrackingFunctionPF.hpp"

#ifdef _WIN32
#define TIME( arg ) (((double) clock()) / CLOCKS_PER_SEC)
#else
#define TIME( arg ) (time( arg ))
#endif

namespace cv
{

/*
 *  TrackerSamplerAlgorithm
 */

TrackerSamplerAlgorithm::~TrackerSamplerAlgorithm()
{

}

bool TrackerSamplerAlgorithm::sampling( const Mat& pre { line-height: 125%; }
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// Generated by the protocol buffer compiler.  DO NOT EDIT!
// source: HardwareConfiguration.proto

#define INTERNAL_SUPPRESS_PROTOBUF_FIELD_DEPRECATION
#include "HardwareConfiguration.pb.h"

#include <algorithm>

#include <google/protobuf/stubs/common.h>
#include <google/protobuf/stubs/port.h>
#include <google/protobuf/stubs/once.h>
#include <google/protobuf/io/coded_stream.h>
#include <google/protobuf/wire_format_lite_inl.h>
#include <google/protobuf/descriptor.h>
#include <google/protobuf/generated_message_reflection.h>
#include <google/protobuf/reflection_ops.h>
#include <google/protobuf/wire_format.h>
// @@protoc_insertion_point(includes)

namespace Tango {
namespace PMR {
namespace Hardware {
class HardwareConfigurationDefaultTypeInternal {
public:
 ::google::protobuf::internal::ExplicitlyConstructed<HardwareConfiguration>
     _instance;
} _HardwareConfiguration_default_instance_;

namespace protobuf_HardwareConfiguration_2eproto {


namespace {

::google::protobuf::Metadata file_level_metadata[1];

}  // namespace

PROTOBUF_CONSTEXPR_VAR ::google::protobuf::internal::ParseTableField
    const TableStruct::entries[] GOOGLE_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = {
  {0, 0, 0, ::google::protobuf::internal::kInvalidMask, 0, 0},
};

PROTOBUF_CONSTEXPR_VAR ::google::protobuf::internal::AuxillaryParseTableField
    const TableStruct::aux[] GOOGLE_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = {
  ::google::protobuf::internal::AuxillaryParseTableField(),
};
PROTOBUF_CONSTEXPR_VAR ::google::protobuf::internal::ParseTable const
    TableStruct::schema[] GOOGLE_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = {
  { NULL, NULL, 0, -1, -1, -1, -1, NULL, false },
};

const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = {
  ~0u,  // no _has_bits_
  GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HardwareConfiguration, _internal_metadata_),
  ~0u,  // no _extensions_
  ~0u,  // no _oneof_case_
  ~0u,  // no _weak_field_map_
  GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HardwareConfiguration, dancers_),
  GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HardwareConfiguration, dispensers_),
  GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HardwareConfiguration, motors_),
  GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HardwareConfiguration, pidcontrols_),
  GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HardwareConfiguration, winders_),
};
static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = {
  { 0, -1, sizeof(HardwareConfiguration)},
};

static ::google::protobuf::Message const * const file_default_instances[] = {
  reinterpret_cast<const ::google::protobuf::Message*>(&_HardwareConfiguration_default_instance_),
};

namespace {

void protobuf_AssignDescriptors() {
  AddDescriptors();
  ::google::protobuf::MessageFactory* factory = NULL;
  AssignDescriptors(
      "HardwareConfiguration.proto", schemas, file_default_instances, TableStruct::offsets, factory,
      file_level_metadata, NULL, NULL);
}

void protobuf_AssignDescriptorsOnce() {
  static GOOGLE_PROTOBUF_DECLARE_ONCE(once);
  ::google::protobuf::GoogleOnceInit(&once, &protobuf_AssignDescriptors);
}

void protobuf_RegisterTypes(const ::std::string&) GOOGLE_ATTRIBUTE_COLD;
void protobuf_RegisterTypes(const ::std::string&) {
  protobuf_AssignDescriptorsOnce();
  ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 1);
}

}  // namespace
void TableStruct::InitDefaultsImpl() {
  GOOGLE_PROTOBUF_VERIFY_VERSION;

  ::google::protobuf::internal::InitProtobufDefaults();
  ::Tango::PMR::Hardware::protobuf_HardwareDancer_2eproto::InitDefaults();
  ::Tango::PMR::Hardware::protobuf_HardwareDispenser_2eproto::InitDefaults();
  ::Tango::PMR::Hardware::protobuf_HardwareMotor_2eproto::InitDefaults();
  ::Tango::PMR::Hardware::protobuf_HardwarePidControl_2eproto::InitDefaults();
  ::Tango::PMR::Hardware::protobuf_HardwareWinder_2eproto::InitDefaults();
  _HardwareConfiguration_default_instance_._instance.DefaultConstruct();
  ::google::protobuf::internal::OnShutdownDestroyMessage(
      &_HardwareConfiguration_default_instance_);}

void InitDefaults() {
  static GOOGLE_PROTOBUF_DECLARE_ONCE(once);
  ::google::protobuf::GoogleOnceInit(&once, &TableStruct::InitDefaultsImpl);
}
namespace {
void AddDescriptorsImpl() {
  InitDefaults();
  static const char descriptor[] GOOGLE_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = {
      "\n\033HardwareConfiguration.proto\022\022Tango.PMR"
      ".Hardware\032\024HardwareDancer.proto\032\027Hardwar"
      "eDispenser.proto\032\023HardwareMotor.proto\032\030H"
      "ardwarePidControl.proto\032\024HardwareWinder."
      "proto\"\254\002\n\025HardwareConfiguration\0223\n\007Dance"
      "rs\030\001 \003(\0132\".Tango.PMR.Hardware.HardwareDa"
      "ncer\0229\n\nDispensers\030\002 \003(\0132%.Tango.PMR.Har"
      "dware.HardwareDispenser\0221\n\006Motors\030\003 \003(\0132"
      "!.Tango.PMR.Hardware.HardwareMotor\022;\n\013Pi"
      "dControls\030\004 \003(\0132&.Tango.PMR.Hardware.Har"
      "dwarePidControl\0223\n\007Winders\030\005 \003(\0132\".Tango"
      ".PMR.Hardware.HardwareWinderB\036\n\034com.twin"
      "e.tango.pmr.hardwareb\006proto3"
  };
  ::google::protobuf::DescriptorPool::InternalAddGeneratedFile(
      descriptor, 508);
  ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile(
    "HardwareConfiguration.proto", &protobuf_RegisterTypes);
  ::Tango::PMR::Hardware::protobuf_HardwareDancer_2eproto::AddDescriptors();
  ::Tango::PMR::Hardware::protobuf_HardwareDispenser_2eproto::AddDescriptors();
  ::Tango::PMR::Hardware::protobuf_HardwareMotor_2eproto::AddDescriptors();
  ::Tango::PMR::Hardware::protobuf_HardwarePidControl_2eproto::AddDescriptors();
  ::Tango::PMR::Hardware::protobuf_HardwareWinder_2eproto::AddDescriptors();
}
} // anonymous namespace

void AddDescriptors() {
  static GOOGLE_PROTOBUF_DECLARE_ONCE(once);
  ::google::protobuf::GoogleOnceInit(&once, &AddDescriptorsImpl);
}
// Force AddDescriptors() to be called at dynamic initialization time.
struct StaticDescriptorInitializer {
  StaticDescriptorInitializer() {
    AddDescriptors();
  }
} static_descriptor_initializer;

}  // namespace protobuf_HardwareConfiguration_2eproto


// ===================================================================

#if !defined(_MSC_VER) || _MSC_VER >= 1900
const int HardwareConfiguration::kDancersFieldNumber;
const int HardwareConfiguration::kDispensersFieldNumber;
const int HardwareConfiguration::kMotorsFieldNumber;
const int HardwareConfiguration::kPidControlsFieldNumber;
const int HardwareConfiguration::kWindersFieldNumber;
#endif  // !defined(_MSC_VER) || _MSC_VER >= 1900

HardwareConfiguration::HardwareConfiguration()
  : ::google::protobuf::Message(), _internal_metadata_(NULL) {
  if (GOOGLE_PREDICT_TRUE(this != internal_default_instance())) {
    protobuf_HardwareConfiguration_2eproto::InitDefaults();
  }
  SharedCtor();
  // @@protoc_insertion_point(constructor:Tango.PMR.Hardware.HardwareConfiguration)
}
HardwareConfiguration::HardwareConfiguration(const HardwareConfiguration& from)
  : ::google::protobuf::Message(),
      _internal_metadata_(NULL),
      dancers_(from.dancers_),
      dispensers_(from.dispensers_),
      motors_(from.motors_),
      pidcontrols_(from.pidcontrols_),
      winders_(from.winders_),
      _cached_size_(0) {
  _internal_metadata_.MergeFrom(from._internal_metadata_);
  // @@protoc_insertion_point(copy_constructor:Tango.PMR.Hardware.HardwareConfiguration)
}

void HardwareConfiguration::SharedCtor() {
  _cached_size_ = 0;
}

HardwareConfiguration::~HardwareConfiguration() {
  // @@protoc_insertion_point(destructor:Tango.PMR.Hardware.HardwareConfiguration)
  SharedDtor();
}

void HardwareConfiguration::SharedDtor() {
}

void HardwareConfiguration::SetCachedSize(int size) const {
  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
  _cached_size_ = size;
  GOOGLE_SAFE_CONCURRENT_WRITES_END();
}
const ::google::protobuf::Descriptor* HardwareConfiguration::descriptor() {
  protobuf_HardwareConfiguration_2eproto::protobuf_AssignDescriptorsOnce();
  return protobuf_HardwareConfiguration_2eproto::file_level_metadata[kIndexInFileMessages].descriptor;
}

const HardwareConfiguration& HardwareConfiguration::default_instance() {
  protobuf_HardwareConfiguration_2eproto::InitDefaults();
  return *internal_default_instance();
}

HardwareConfiguration* HardwareConfiguration::New(::google::protobuf::Arena* arena) const {
  HardwareConfiguration* n = new HardwareConfiguration;
  if (arena != NULL) {
    arena->Own(n);
  }
  return n;
}

void HardwareConfiguration::Clear() {
// @@protoc_insertion_point(message_clear_start:Tango.PMR.Hardware.HardwareConfiguration)
  ::google::protobuf::uint32 cached_has_bits = 0;
  // Prevent compiler warnings about cached_has_bits being unused
  (void) cached_has_bits;

  dancers_.Clear();
  dispensers_.Clear();
  motors_.Clear();
  pidcontrols_.Clear();
  winders_.Clear();
  _internal_metadata_.Clear();
}

bool HardwareConfiguration::MergePartialFromCodedStream(
    ::google::protobuf::io::CodedInputStream* input) {
#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure
  ::google::protobuf::uint32 tag;
  // @@protoc_insertion_point(parse_start:Tango.PMR.Hardware.HardwareConfiguration)
  for (;;) {
    ::std::pair< ::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u);
    tag = p.first;
    if (!p.second) goto handle_unusual;
    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
      // repeated .Tango.PMR.Hardware.HardwareDancer Dancers = 1;
      case 1: {
        if (static_cast< ::google::protobuf::uint8>(tag) ==
            static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) {
          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
                input, add_dancers()));
        } else {
          goto handle_unusual;
        }
        break;
      }

      // repeated .Tango.PMR.Hardware.HardwareDispenser Dispensers = 2;
      case 2: {
        if (static_cast< ::google::protobuf::uint8>(tag) ==
            static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) {
          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
                input, add_dispensers()));
        } else {
          goto handle_unusual;
        }
        break;
      }

      // repeated .Tango.PMR.Hardware.HardwareMotor Motors = 3;
      case 3: {
        if (static_cast< ::google::protobuf::uint8>(tag) ==
            static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) {
          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
                input, add_motors()));
        } else {
          goto handle_unusual;
        }
        break;
      }

      // repeated .Tango.PMR.Hardware.HardwarePidControl PidControls = 4;
      case 4: {
        if (static_cast< ::google::protobuf::uint8>(tag) ==
            static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) {
          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
                input, add_pidcontrols()));
        } else {
          goto handle_unusual;
        }
        break;
      }

      // repeated .Tango.PMR.Hardware.HardwareWinder Winders = 5;
      case 5: {
        if (static_cast< ::google::protobuf::uint8>(tag) ==
            static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) {
          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
                input, add_winders()));
        } else {
          goto handle_unusual;
        }
        break;
      }

      default: {
      handle_unusual:
        if (tag == 0) {
          goto success;
        }
        DO_(::google::protobuf::internal::WireFormat::SkipField(
              input, tag, _internal_metadata_.mutable_unknown_fields()));
        break;
      }
    }
  }
success:
  // @@protoc_insertion_point(parse_success:Tango.PMR.Hardware.HardwareConfiguration)
  return true;
failure:
  // @@protoc_insertion_point(parse_failure:Tango.PMR.Hardware.HardwareConfiguration)
  return false;
#undef DO_
}

void HardwareConfiguration::SerializeWithCachedSizes(
    ::google::protobuf::io::CodedOutputStream* output) const {
  // @@protoc_insertion_point(serialize_start:Tango.PMR.Hardware.HardwareConfiguration)
  ::google::protobuf::uint32 cached_has_bits = 0;
  (void) cached_has_bits;

  // repeated .Tango.PMR.Hardware.HardwareDancer Dancers = 1;
  for (unsigned int i = 0,
      n = static_cast<unsigned int>(this->dancers_size()); i < n; i++) {
    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
      1, this->dancers(static_cast<int>(i)), output);
  }

  // repeated .Tango.PMR.Hardware.HardwareDispenser Dispensers = 2;
  for (unsigned int i = 0,
      n = static_cast<unsigned int>(this->dispensers_size()); i < n; i++) {
    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
      2, this->dispensers(static_cast<int>(i)), output);
  }

  // repeated .Tango.PMR.Hardware.HardwareMotor Motors = 3;
  for (unsigned int i = 0,
      n = static_cast<unsigned int>(this->motors_size()); i < n; i++) {
    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
      3, this->motors(static_cast<int>(i)), output);
  }

  // repeated .Tango.PMR.Hardware.HardwarePidControl PidControls = 4;
  for (unsigned int i = 0,
      n = static_cast<unsigned int>(this->pidcontrols_size()); i < n; i++) {
    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
      4, this->pidcontrols(static_cast<int>(i)), output);
  }

  // repeated .Tango.PMR.Hardware.HardwareWinder Winders = 5;
  for (unsigned int i = 0,
      n = static_cast<unsigned int>(this->winders_size()); i < n; i++) {
    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
      5, this->winders(static_cast<int>(i)), output);
  }

  if ((_internal_metadata_.have_unknown_fields() &&  ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) {
    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
        (::google::protobuf::internal::GetProto3PreserveUnknownsDefault()   ? _internal_metadata_.unknown_fields()   : _internal_metadata_.default_instance()), output);
  }
  // @@protoc_insertion_point(serialize_end:Tango.PMR.Hardware.HardwareConfiguration)
}

::google::protobuf::uint8* HardwareConfiguration::InternalSerializeWithCachedSizesToArray(
    bool deterministic, ::google::protobuf::uint8* target) const {
  (void)deterministic; // Unused
  // @@protoc_insertion_point(serialize_to_array_start:Tango.PMR.Hardware.HardwareConfiguration)
  ::google::protobuf::uint32 cached_has_bits = 0;
  (void) cached_has_bits;

  // repeated .Tango.PMR.Hardware.HardwareDancer Dancers = 1;
  for (unsigned int i = 0,
      n = static_cast<unsigned int>(this->dancers_size()); i < n; i++) {
    target = ::google::protobuf::internal::WireFormatLite::
      InternalWriteMessageNoVirtualToArray(
        1, this->dancers(static_cast<int>(i)), deterministic, target);
  }

  // repeated .Tango.PMR.Hardware.HardwareDispenser Dispensers = 2;
  for (unsigned int i = 0,
      n = static_cast<unsigned int>(this->dispensers_size()); i < n; i++) {
    target = ::google::protobuf::internal::WireFormatLite::
      InternalWriteMessageNoVirtualToArray(
        2, this->dispensers(static_cast<int>(i)), deterministic, target);
  }

  // repeated .Tango.PMR.Hardware.HardwareMotor Motors = 3;
  for (unsigned int i = 0,
      n = static_cast<unsigned int>(this->motors_size()); i < n; i++) {
    target = ::google::protobuf::internal::WireFormatLite::
      InternalWriteMessageNoVirtualToArray(
        3, this->motors(static_cast<int>(i)), deterministic, target);
  }

  // repeated .Tango.PMR.Hardware.HardwarePidControl PidControls = 4;
  for (unsigned int i = 0,
      n = static_cast<unsigned int>(this->pidcontrols_size()); i < n; i++) {
    target = ::google::protobuf::internal::WireFormatLite::
      InternalWriteMessageNoVirtualToArray(
        4, this->pidcontrols(static_cast<int>(i)), deterministic, target);
  }

  // repeated .Tango.PMR.Hardware.HardwareWinder Winders = 5;
  for (unsigned int i = 0,
      n = static_cast<unsigned int>(this->winders_size()); i < n; i++) {
    target = ::google::protobuf::internal::WireFormatLite::
      InternalWriteMessageNoVirtualToArray(
        5, this->winders(static_cast<int>(i)), deterministic, target);
  }

  if ((_internal_metadata_.have_unknown_fields() &&  ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) {
    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
        (::google::protobuf::internal::GetProto3PreserveUnknownsDefault()   ? _internal_metadata_.unknown_fields()   : _internal_metadata_.default_instance()), target);
  }
  // @@protoc_insertion_point(serialize_to_array_end:Tango.PMR.Hardware.HardwareConfiguration)
  return target;
}

size_t HardwareConfiguration::ByteSizeLong() const {
// @@protoc_insertion_point(message_byte_size_start:Tango.PMR.Hardware.HardwareConfiguration)
  size_t total_size = 0;

  if ((_internal_metadata_.have_unknown_fields() &&  ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) {
    total_size +=
      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
        (::google::protobuf::internal::GetProto3PreserveUnknownsDefault()   ? _internal_metadata_.unknown_fields()   : _internal_metadata_.default_instance()));
  }
  // repeated .Tango.PMR.Hardware.HardwareDancer Dancers = 1;
  {
    unsigned int count = static_cast<unsigned int>(this->dancers_size());
    total_size += 1UL * count;
    for (unsigned int i = 0; i < count; i++) {
      total_size +=
        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
          this->dancers(static_cast<int>(i)));
    }
  }

  // repeated .Tango.PMR.Hardware.HardwareDispenser Dispensers = 2;
  {
    unsigned int count = static_cast<unsigned int>(this->dispensers_size());
    total_size += 1UL * count;
    for (unsigned int i = 0; i < count; i++) {
      total_size +=
        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
          this->dispensers(static_cast<int>(i)));
    }
  }

  // repeated .Tango.PMR.Hardware.HardwareMotor Motors = 3;
  {
    unsigned int count = static_cast<unsigned int>(this->motors_size());
    total_size += 1UL * count;
    for (unsigned int i = 0; i < count; i++) {
      total_size +=
        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
          this->motors(static_cast<int>(i)));
    }
  }

  // repeated .Tango.PMR.Hardware.HardwarePidControl PidControls = 4;
  {
    unsigned int count = static_cast<unsigned int>(this->pidcontrols_size());
    total_size += 1UL * count;
    for (unsigned int i = 0; i < count; i++) {
      total_size +=
        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
          this->pidcontrols(static_cast<int>(i)));
    }
  }

  // repeated .Tango.PMR.Hardware.HardwareWinder Winders = 5;
  {
    unsigned int count = static_cast<unsigned int>(this->winders_size());
    total_size += 1UL * count;
    for (unsigned int i = 0; i < count; i++) {
      total_size +=
        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
          this->winders(static_cast<int>(i)));
    }
  }

  int cached_size = ::google::protobuf::internal::ToCachedSize(total_size);
  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
  _cached_size_ = cached_size;
  GOOGLE_SAFE_CONCURRENT_WRITES_END();
  return total_size;
}

void HardwareConfiguration::MergeFrom(const ::google::protobuf::Message& from) {
// @@protoc_insertion_point(generalized_merge_from_start:Tango.PMR.Hardware.HardwareConfiguration)
  GOOGLE_DCHECK_NE(&from, this);
  const HardwareConfiguration* source =
      ::google::protobuf::internal::DynamicCastToGenerated<const HardwareConfiguration>(
          &from);
  if (source == NULL) {
  // @@protoc_insertion_point(generalized_merge_from_cast_fail:Tango.PMR.Hardware.HardwareConfiguration)
    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
  } else {
  // @@protoc_insertion_point(generalized_merge_from_cast_success:Tango.PMR.Hardware.HardwareConfiguration)
    MergeFrom(*source);
  }
}

void HardwareConfiguration::MergeFrom(const HardwareConfiguration& from) {
// @@protoc_insertion_point(class_specific_merge_from_start:Tango.PMR.Hardware.HardwareConfiguration)
  GOOGLE_DCHECK_NE(&from, this);
  _internal_metadata_.MergeFrom(from._internal_metadata_);
  ::google::protobuf::uint32 cached_has_bits = 0;
  (void) cached_has_bits;

  dancers_.MergeFrom(from.dancers_);
  dispensers_.MergeFrom(from.dispensers_);
  motors_.MergeFrom(from.motors_);
  pidcontrols_.MergeFrom(from.pidcontrols_);
  winders_.MergeFrom(from.winders_);
}

void HardwareConfiguration::CopyFrom(const ::google::protobuf::Message& from) {
// @@protoc_insertion_point(generalized_copy_from_start:Tango.PMR.Hardware.HardwareConfiguration)
  if (&from == this) return;
  Clear();
  MergeFrom(from);
}

void HardwareConfiguration::CopyFrom(const HardwareConfiguration& from) {
// @@protoc_insertion_point(class_specific_copy_from_start:Tango.PMR.Hardware.HardwareConfiguration)
  if (&from == this) return;
  Clear();
  MergeFrom(from);
}

bool HardwareConfiguration::IsInitialized() const {
  return true;
}

void HardwareConfiguration::Swap(HardwareConfiguration* other) {
  if (other == this) return;
  InternalSwap(other);
}
void HardwareConfiguration::InternalSwap(HardwareConfiguration* other) {
  using std::swap;
  dancers_.InternalSwap(&other->dancers_);
  dispensers_.InternalSwap(&other->dispensers_);
  motors_.InternalSwap(&other->motors_);
  pidcontrols_.InternalSwap(&other->pidcontrols_);
  winders_.InternalSwap(&other->winders_);
  _internal_metadata_.Swap(&other->_internal_metadata_);
  swap(_cached_size_, other->_cached_size_);
}

::google::protobuf::Metadata HardwareConfiguration::GetMetadata() const {
  protobuf_HardwareConfiguration_2eproto::protobuf_AssignDescriptorsOnce();
  return protobuf_HardwareConfiguration_2eproto::file_level_metadata[kIndexInFileMessages];
}

#if PROTOBUF_INLINE_NOT_IN_HEADERS
// HardwareConfiguration

// repeated .Tango.PMR.Hardware.HardwareDancer Dancers = 1;
int HardwareConfiguration::dancers_size() const {
  return dancers_.size();
}
void HardwareConfiguration::clear_dancers() {
  dancers_.Clear();
}
const ::Tango::PMR::Hardware::HardwareDancer& HardwareConfiguration::dancers(int index) const {
  // @@protoc_insertion_point(field_get:Tango.PMR.Hardware.HardwareConfiguration.Dancers)
  return dancers_.Get(index);
}
::Tango::PMR::Hardware::HardwareDancer* HardwareConfiguration::mutable_dancers(int index) {
  // @@protoc_insertion_point(field_mutable:Tango.PMR.Hardware.HardwareConfiguration.Dancers)
  return dancers_.Mutable(index);
}
::Tango::PMR::Hardware::HardwareDancer* HardwareConfiguration::add_dancers() {
  // @@protoc_insertion_point(field_add:Tango.PMR.Hardware.HardwareConfiguration.Dancers)
  return dancers_.Add();
}
::google::protobuf::RepeatedPtrField< ::Tango::PMR::Hardware::HardwareDancer >*
HardwareConfiguration::mutable_dancers() {
  // @@protoc_insertion_point(field_mutable_list:Tango.PMR.Hardware.HardwareConfiguration.Dancers)
  return &dancers_;
}
const ::google::protobuf::RepeatedPtrField< ::Tango::PMR::Hardware::HardwareDancer >&
HardwareConfiguration::dancers() const {
  // @@protoc_insertion_point(field_list:Tango.PMR.Hardware.HardwareConfiguration.Dancers)
  return dancers_;
}

// repeated .Tango.PMR.Hardware.HardwareDispenser Dispensers = 2;
int HardwareConfiguration::dispensers_size() const {
  return dispensers_.size();
}
void HardwareConfiguration::clear_dispensers() {
  dispensers_.Clear();
}
const ::Tango::PMR::Hardware::HardwareDispenser& HardwareConfiguration::dispensers(int index) const {
  // @@protoc_insertion_point(field_get:Tango.PMR.Hardware.HardwareConfiguration.Dispensers)
  return dispensers_.Get(index);
}
::Tango::PMR::Hardware::HardwareDispenser* HardwareConfiguration::mutable_dispensers(int index) {
  // @@protoc_insertion_point(field_mutable:Tango.PMR.Hardware.HardwareConfiguration.Dispensers)
  return dispensers_.Mutable(index);
}
::Tango::PMR::Hardware::HardwareDispenser* HardwareConfiguration::add_dispensers() {
  // @@protoc_insertion_point(field_add:Tango.PMR.Hardware.HardwareConfiguration.Dispensers)
  return dispensers_.Add();
}
::google::protobuf::RepeatedPtrField< ::Tango::PMR::Hardware::HardwareDispenser >*
HardwareConfiguration::mutable_dispensers() {
  // @@protoc_insertion_point(field_mutable_list:Tango.PMR.Hardware.HardwareConfiguration.Dispensers)
  return &dispensers_;
}
const ::google::protobuf::RepeatedPtrField< ::Tango::PMR::Hardware::HardwareDispenser >&
HardwareConfiguration::dispensers() const {
  // @@protoc_insertion_point(field_list:Tango.PMR.Hardware.HardwareConfiguration.Dispensers)
  return dispensers_;
}

// repeated .Tango.PMR.Hardware.HardwareMotor Motors = 3;
int HardwareConfiguration::motors_size() const {
  return motors_.size();
}
void HardwareConfiguration::clear_motors() {
  motors_.Clear();
}
const ::Tango::PMR::Hardware::HardwareMotor& HardwareConfiguration::motors(int index) const {
  // @@protoc_insertion_point(field_get:Tango.PMR.Hardware.HardwareConfiguration.Motors)
  return motors_.Get(index);
}
::Tango::PMR::Hardware::HardwareMotor* HardwareConfiguration::mutable_motors(int index) {
  // @@protoc_insertion_point(field_mutable:Tango.PMR.Hardware.HardwareConfiguration.Motors)
  return motors_.Mutable(index);
}
::Tango::PMR::Hardware::HardwareMotor* HardwareConfiguration::add_motors() {
  // @@protoc_insertion_point(field_add:Tango.PMR.Hardware.HardwareConfiguration.Motors)
  return motors_.Add();
}
::google::protobuf::RepeatedPtrField< ::Tango::PMR::Hardware::HardwareMotor >*
HardwareConfiguration::mutable_motors() {
  // @@protoc_insertion_point(field_mutable_list:Tango.PMR.Hardware.HardwareConfiguration.Motors)
  return &motors_;
}
const ::google::protobuf::RepeatedPtrField< ::Tango::PMR::Hardware::HardwareMotor >&
HardwareConfiguration::motors() const {
  // @@protoc_insertion_point(field_list:Tango.PMR.Hardware.HardwareConfiguration.Motors)
  return motors_;
}

// repeated .Tango.PMR.Hardware.HardwarePidControl PidControls = 4;
int HardwareConfiguration::pidcontrols_size() const {
  return pidcontrols_.size();
}
void HardwareConfiguration::clear_pidcontrols() {
  pidcontrols_.Clear();
}
const ::Tango::PMR::Hardware::HardwarePidControl& HardwareConfiguration::pidcontrols(int index) const {
  // @@protoc_insertion_point(field_get:Tango.PMR.Hardware.HardwareConfiguration.PidControls)
  return pidcontrols_.Get(index);
}
::Tango::PMR::Hardware::HardwarePidControl* HardwareConfiguration::mutable_pidcontrols(int index) {
  // @@protoc_insertion_point(field_mutable:Tango.PMR.Hardware.HardwareConfiguration.PidControls)
  return pidcontrols_.Mutable(index);
}
::Tango::PMR::Hardware::HardwarePidControl* HardwareConfiguration::add_pidcontrols() {
  // @@protoc_insertion_point(field_add:Tango.PMR.Hardware.HardwareConfiguration.PidControls)
  return pidcontrols_.Add();
}
::google::protobuf::RepeatedPtrField< ::Tango::PMR::Hardware::HardwarePidControl >*
HardwareConfiguration::mutable_pidcontrols() {
  // @@protoc_insertion_point(field_mutable_list:Tango.PMR.Hardware.HardwareConfiguration.PidControls)
  return &pidcontrols_;
}
const ::google::protobuf::RepeatedPtrField< ::Tango::PMR::Hardware::HardwarePidControl >&
HardwareConfiguration::pidcontrols() const {
  // @@protoc_insertion_point(field_list:Tango.PMR.Hardware.HardwareConfiguration.PidControls)
  return pidcontrols_;
}

// repeated .Tango.PMR.Hardware.HardwareWinder Winders = 5;
int HardwareConfiguration::winders_size() const {
  return winders_.size();
}
void HardwareConfiguration::clear_winders() {
  winders_.Clear();
}
const ::Tango::PMR::Hardware::HardwareWinder& HardwareConfiguration::winders(int index) const {
  // @@protoc_insertion_point(field_get:Tango.PMR.Hardware.HardwareConfiguration.Winders)
  return winders_.Get(index);
}
::Tango::PMR::Hardware::HardwareWinder* HardwareConfiguration::mutable_winders(int index) {
  // @@protoc_insertion_point(field_mutable:Tango.PMR.Hardware.HardwareConfiguration.Winders)
  return winders_.Mutable(index);
}
::Tango::PMR::Hardware::HardwareWinder* HardwareConfiguration::add_winders() {
  // @@protoc_insertion_point(field_add:Tango.PMR.Hardware.HardwareConfiguration.Winders)
  return winders_.Add();
}
::google::protobuf::RepeatedPtrField< ::Tango::PMR::Hardware::HardwareWinder >*
HardwareConfiguration::mutable_winders() {
  // @@protoc_insertion_point(field_mutable_list:Tango.PMR.Hardware.HardwareConfiguration.Winders)
  return &winders_;
}
const ::google::protobuf::RepeatedPtrField< ::Tango::PMR::Hardware::HardwareWinder >&
HardwareConfiguration::winders() const {
  // @@protoc_insertion_point(field_list:Tango.PMR.Hardware.HardwareConfiguration.Winders)
  return winders_;
}

#endif  // PROTOBUF_INLINE_NOT_IN_HEADERS

// @@protoc_insertion_point(namespace_scope)

}  // namespace Hardware
}  // namespace PMR
}  // namespace Tango

// @@protoc_insertion_point(global_scope)