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