www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+brics_actuator/CartesianTwist.m
classdef CartesianTwist < robotics.ros.Message %CartesianTwist MATLAB implementation of brics_actuator/CartesianTwist % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'brics_actuator/CartesianTwist' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'e86336d0ca57e442a1f55b8cb29e1a22' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) BricsActuatorCartesianVectorClass = robotics.ros.msg.internal.MessageFactory.getClassForType('brics_actuator/CartesianVector') % Dispatch to MATLAB class for message type brics_actuator/CartesianVector BricsActuatorPoisonClass = robotics.ros.msg.internal.MessageFactory.getClassForType('brics_actuator/Poison') % Dispatch to MATLAB class for message type brics_actuator/Poison TimeClass = robotics.ros.msg.internal.MessageFactory.getClassForType('time') % Dispatch to MATLAB class for message type time end properties (Dependent) TimeStamp PoisonStamp BaseFrameUri TargetFrameUri Translation Rotation end properties (Access = protected) Cache = struct('TimeStamp', [], 'PoisonStamp', [], 'Translation', [], 'Rotation', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'BaseFrameUri', 'PoisonStamp', 'Rotation', 'TargetFrameUri', 'TimeStamp', 'Translation'} % List of non-constant message properties ROSPropertyList = {'base_frame_uri', 'poisonStamp', 'rotation', 'target_frame_uri', 'timeStamp', 'translation'} % List of non-constant ROS message properties end methods function obj = CartesianTwist(msg) %CartesianTwist Construct the message object CartesianTwist 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 timestamp = get.TimeStamp(obj) %get.TimeStamp Get the value for property TimeStamp if isempty(obj.Cache.TimeStamp) obj.Cache.TimeStamp = feval(obj.TimeClass, obj.JavaMessage.getTimeStamp); end timestamp = obj.Cache.TimeStamp; end function set.TimeStamp(obj, timestamp) %set.TimeStamp Set the value for property TimeStamp validateattributes(timestamp, {obj.TimeClass}, {'nonempty', 'scalar'}, 'CartesianTwist', 'TimeStamp'); obj.JavaMessage.setTimeStamp(timestamp.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.TimeStamp) obj.Cache.TimeStamp.setJavaObject(timestamp.getJavaObject); end end function poisonstamp = get.PoisonStamp(obj) %get.PoisonStamp Get the value for property PoisonStamp if isempty(obj.Cache.PoisonStamp) obj.Cache.PoisonStamp = feval(obj.BricsActuatorPoisonClass, obj.JavaMessage.getPoisonStamp); end poisonstamp = obj.Cache.PoisonStamp; end function set.PoisonStamp(obj, poisonstamp) %set.PoisonStamp Set the value for property PoisonStamp validateattributes(poisonstamp, {obj.BricsActuatorPoisonClass}, {'nonempty', 'scalar'}, 'CartesianTwist', 'PoisonStamp'); obj.JavaMessage.setPoisonStamp(poisonstamp.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.PoisonStamp) obj.Cache.PoisonStamp.setJavaObject(poisonstamp.getJavaObject); end end function baseframeuri = get.BaseFrameUri(obj) %get.BaseFrameUri Get the value for property BaseFrameUri baseframeuri = char(obj.JavaMessage.getBaseFrameUri); end function set.BaseFrameUri(obj, baseframeuri) %set.BaseFrameUri Set the value for property BaseFrameUri validateattributes(baseframeuri, {'char'}, {}, 'CartesianTwist', 'BaseFrameUri'); obj.JavaMessage.setBaseFrameUri(baseframeuri); end function targetframeuri = get.TargetFrameUri(obj) %get.TargetFrameUri Get the value for property TargetFrameUri targetframeuri = char(obj.JavaMessage.getTargetFrameUri); end function set.TargetFrameUri(obj, targetframeuri) %set.TargetFrameUri Set the value for property TargetFrameUri validateattributes(targetframeuri, {'char'}, {}, 'CartesianTwist', 'TargetFrameUri'); obj.JavaMessage.setTargetFrameUri(targetframeuri); end function translation = get.Translation(obj) %get.Translation Get the value for property Translation if isempty(obj.Cache.Translation) obj.Cache.Translation = feval(obj.BricsActuatorCartesianVectorClass, obj.JavaMessage.getTranslation); end translation = obj.Cache.Translation; end function set.Translation(obj, translation) %set.Translation Set the value for property Translation validateattributes(translation, {obj.BricsActuatorCartesianVectorClass}, {'nonempty', 'scalar'}, 'CartesianTwist', 'Translation'); obj.JavaMessage.setTranslation(translation.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Translation) obj.Cache.Translation.setJavaObject(translation.getJavaObject); end end function rotation = get.Rotation(obj) %get.Rotation Get the value for property Rotation if isempty(obj.Cache.Rotation) obj.Cache.Rotation = feval(obj.BricsActuatorCartesianVectorClass, obj.JavaMessage.getRotation); end rotation = obj.Cache.Rotation; end function set.Rotation(obj, rotation) %set.Rotation Set the value for property Rotation validateattributes(rotation, {obj.BricsActuatorCartesianVectorClass}, {'nonempty', 'scalar'}, 'CartesianTwist', 'Rotation'); obj.JavaMessage.setRotation(rotation.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Rotation) obj.Cache.Rotation.setJavaObject(rotation.getJavaObject); end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.TimeStamp = []; obj.Cache.PoisonStamp = []; obj.Cache.Translation = []; obj.Cache.Rotation = []; 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.BaseFrameUri = obj.BaseFrameUri; cpObj.TargetFrameUri = obj.TargetFrameUri; % Recursively copy compound properties cpObj.TimeStamp = copy(obj.TimeStamp); cpObj.PoisonStamp = copy(obj.PoisonStamp); cpObj.Translation = copy(obj.Translation); cpObj.Rotation = copy(obj.Rotation); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.BaseFrameUri = strObj.BaseFrameUri; obj.TargetFrameUri = strObj.TargetFrameUri; obj.TimeStamp = feval([obj.TimeClass '.loadobj'], strObj.TimeStamp); obj.PoisonStamp = feval([obj.BricsActuatorPoisonClass '.loadobj'], strObj.PoisonStamp); obj.Translation = feval([obj.BricsActuatorCartesianVectorClass '.loadobj'], strObj.Translation); obj.Rotation = feval([obj.BricsActuatorCartesianVectorClass '.loadobj'], strObj.Rotation); 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.BaseFrameUri = obj.BaseFrameUri; strObj.TargetFrameUri = obj.TargetFrameUri; strObj.TimeStamp = saveobj(obj.TimeStamp); strObj.PoisonStamp = saveobj(obj.PoisonStamp); strObj.Translation = saveobj(obj.Translation); strObj.Rotation = saveobj(obj.Rotation); 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.brics_actuator.CartesianTwist.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.brics_actuator.CartesianTwist; obj.reload(strObj); end end end