www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+adhoc_communication/MmRobotPosition.m
classdef MmRobotPosition < robotics.ros.Message %MmRobotPosition MATLAB implementation of adhoc_communication/MmRobotPosition % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'adhoc_communication/MmRobotPosition' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'b110eae90e8648401835f8c826926f86' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) GeometryMsgsPoseStampedClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/PoseStamped') % Dispatch to MATLAB class for message type geometry_msgs/PoseStamped end properties (Dependent) SrcRobot Position end properties (Access = protected) Cache = struct('Position', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Position', 'SrcRobot'} % List of non-constant message properties ROSPropertyList = {'position', 'src_robot'} % List of non-constant ROS message properties end methods function obj = MmRobotPosition(msg) %MmRobotPosition Construct the message object MmRobotPosition import com.mathworks.toolbox.robotics.ros.message.MessageInfo; % Support default constructor if nargin == 0 obj.JavaMessage = obj.createNewJavaMessage; return; end % Construct appropriate empty array if isempty(msg) obj = obj.empty(0,1); return; end % Make scalar construction fast if isscalar(msg) % Check for correct input class if ~MessageInfo.compareTypes(msg(1), obj.MessageType) error(message('robotics:ros:message:NoTypeMatch', obj.MessageType, ... char(MessageInfo.getType(msg(1))) )); end obj.JavaMessage = msg(1); return; end % Check that this is a vector of scalar messages. Since this % is an object array, use arrayfun to verify. if ~all(arrayfun(@isscalar, msg)) error(message('robotics:ros:message:MessageArraySizeError')); end % Check that all messages in the array have the correct type if ~all(arrayfun(@(x) MessageInfo.compareTypes(x, obj.MessageType), msg)) error(message('robotics:ros:message:NoTypeMatchArray', obj.MessageType)); end % Construct array of objects if necessary objType = class(obj); for i = 1:length(msg) obj(i,1) = feval(objType, msg(i)); %#ok<AGROW> end end function srcrobot = get.SrcRobot(obj) %get.SrcRobot Get the value for property SrcRobot srcrobot = char(obj.JavaMessage.getSrcRobot); end function set.SrcRobot(obj, srcrobot) %set.SrcRobot Set the value for property SrcRobot validateattributes(srcrobot, {'char'}, {}, 'MmRobotPosition', 'SrcRobot'); obj.JavaMessage.setSrcRobot(srcrobot); end function position = get.Position(obj) %get.Position Get the value for property Position if isempty(obj.Cache.Position) obj.Cache.Position = feval(obj.GeometryMsgsPoseStampedClass, obj.JavaMessage.getPosition); end position = obj.Cache.Position; end function set.Position(obj, position) %set.Position Set the value for property Position validateattributes(position, {obj.GeometryMsgsPoseStampedClass}, {'nonempty', 'scalar'}, 'MmRobotPosition', 'Position'); obj.JavaMessage.setPosition(position.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Position) obj.Cache.Position.setJavaObject(position.getJavaObject); end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Position = []; end function cpObj = copyElement(obj) %copyElement Implements deep copy behavior for message % Call default copy method for shallow copy cpObj = copyElement@robotics.ros.Message(obj); % Clear any existing cached properties cpObj.resetCache; % Create a new Java message object cpObj.JavaMessage = obj.createNewJavaMessage; % Iterate over all primitive properties cpObj.SrcRobot = obj.SrcRobot; % Recursively copy compound properties cpObj.Position = copy(obj.Position); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.SrcRobot = strObj.SrcRobot; obj.Position = feval([obj.GeometryMsgsPoseStampedClass '.loadobj'], strObj.Position); end end methods (Access = ?robotics.ros.Message) function strObj = saveobj(obj) %saveobj Implements saving of message to MAT file % Return an empty element if object array is empty if isempty(obj) strObj = struct.empty; return end strObj.SrcRobot = obj.SrcRobot; strObj.Position = saveobj(obj.Position); end end methods (Static, Access = {?matlab.unittest.TestCase, ?robotics.ros.Message}) function obj = loadobj(strObj) %loadobj Implements loading of message from MAT file % Return an empty object array if the structure element is not defined if isempty(strObj) obj = robotics.ros.msggen.adhoc_communication.MmRobotPosition.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.adhoc_communication.MmRobotPosition; obj.reload(strObj); end end end