www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+baxter_core_msgs/CollisionAvoidanceState.m
classdef CollisionAvoidanceState < robotics.ros.Message %CollisionAvoidanceState MATLAB implementation of baxter_core_msgs/CollisionAvoidanceState % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'baxter_core_msgs/CollisionAvoidanceState' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '30f5cb8ae019f1ffe8b599e6d2e589c7' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header end properties (Dependent) Header OtherArm CollisionObject end properties (Access = protected) Cache = struct('Header', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'CollisionObject', 'Header', 'OtherArm'} % List of non-constant message properties ROSPropertyList = {'collision_object', 'header', 'other_arm'} % List of non-constant ROS message properties end methods function obj = CollisionAvoidanceState(msg) %CollisionAvoidanceState Construct the message object CollisionAvoidanceState 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 header = get.Header(obj) %get.Header Get the value for property Header if isempty(obj.Cache.Header) obj.Cache.Header = feval(obj.StdMsgsHeaderClass, obj.JavaMessage.getHeader); end header = obj.Cache.Header; end function set.Header(obj, header) %set.Header Set the value for property Header validateattributes(header, {obj.StdMsgsHeaderClass}, {'nonempty', 'scalar'}, 'CollisionAvoidanceState', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function otherarm = get.OtherArm(obj) %get.OtherArm Get the value for property OtherArm otherarm = logical(obj.JavaMessage.getOtherArm); end function set.OtherArm(obj, otherarm) %set.OtherArm Set the value for property OtherArm validateattributes(otherarm, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'CollisionAvoidanceState', 'OtherArm'); obj.JavaMessage.setOtherArm(otherarm); end function collisionobject = get.CollisionObject(obj) %get.CollisionObject Get the value for property CollisionObject javaArray = obj.JavaMessage.getCollisionObject; array = obj.readJavaArray(javaArray, 'char'); collisionobject = arrayfun(@(x) char(x), array, 'UniformOutput', false); end function set.CollisionObject(obj, collisionobject) %set.CollisionObject Set the value for property CollisionObject if ~isvector(collisionobject) && isempty(collisionobject) % Allow empty [] input collisionobject = cell.empty(0,1); end validateattributes(collisionobject, {'cell'}, {'vector'}, 'CollisionAvoidanceState', 'CollisionObject'); if any(cellfun(@(x) ~ischar(x), collisionobject)) error(message('robotics:ros:message:CellArrayStringError', ... 'collisionobject')); end javaArray = obj.JavaMessage.getCollisionObject; array = obj.writeJavaArray(collisionobject, javaArray, 'char'); obj.JavaMessage.setCollisionObject(array); end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Header = []; 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.OtherArm = obj.OtherArm; cpObj.CollisionObject = obj.CollisionObject; % Recursively copy compound properties cpObj.Header = copy(obj.Header); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.OtherArm = strObj.OtherArm; obj.CollisionObject = strObj.CollisionObject; obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header); 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.OtherArm = obj.OtherArm; strObj.CollisionObject = obj.CollisionObject; strObj.Header = saveobj(obj.Header); 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.baxter_core_msgs.CollisionAvoidanceState.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.baxter_core_msgs.CollisionAvoidanceState; obj.reload(strObj); end end end