www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+bwi_planning_common/PlannerInterfaceResponse.m
classdef PlannerInterfaceResponse < robotics.ros.Message %PlannerInterfaceResponse MATLAB implementation of bwi_planning_common/PlannerInterfaceResponse % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'bwi_planning_common/PlannerInterfaceResponse' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '4b369ca08113322eccf2b5371446d8fc' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) BwiPlanningCommonPlannerAtomClass = robotics.ros.msg.internal.MessageFactory.getClassForType('bwi_planning_common/PlannerAtom') % Dispatch to MATLAB class for message type bwi_planning_common/PlannerAtom end properties (Dependent) Success Status Observations end properties (Access = protected) Cache = struct('Observations', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Observations', 'Status', 'Success'} % List of non-constant message properties ROSPropertyList = {'observations', 'status', 'success'} % List of non-constant ROS message properties end methods function obj = PlannerInterfaceResponse(msg) %PlannerInterfaceResponse Construct the message object PlannerInterfaceResponse 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 success = get.Success(obj) %get.Success Get the value for property Success success = logical(obj.JavaMessage.getSuccess); end function set.Success(obj, success) %set.Success Set the value for property Success validateattributes(success, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'PlannerInterfaceResponse', 'Success'); obj.JavaMessage.setSuccess(success); end function status = get.Status(obj) %get.Status Get the value for property Status status = char(obj.JavaMessage.getStatus); end function set.Status(obj, status) %set.Status Set the value for property Status validateattributes(status, {'char'}, {}, 'PlannerInterfaceResponse', 'Status'); obj.JavaMessage.setStatus(status); end function observations = get.Observations(obj) %get.Observations Get the value for property Observations if isempty(obj.Cache.Observations) javaArray = obj.JavaMessage.getObservations; array = obj.readJavaArray(javaArray, obj.BwiPlanningCommonPlannerAtomClass); obj.Cache.Observations = feval(obj.BwiPlanningCommonPlannerAtomClass, array); end observations = obj.Cache.Observations; end function set.Observations(obj, observations) %set.Observations Set the value for property Observations if ~isvector(observations) && isempty(observations) % Allow empty [] input observations = feval([obj.BwiPlanningCommonPlannerAtomClass '.empty'], 0, 1); end validateattributes(observations, {obj.BwiPlanningCommonPlannerAtomClass}, {'vector'}, 'PlannerInterfaceResponse', 'Observations'); javaArray = obj.JavaMessage.getObservations; array = obj.writeJavaArray(observations, javaArray, obj.BwiPlanningCommonPlannerAtomClass); obj.JavaMessage.setObservations(array); % Update cache if necessary if ~isempty(obj.Cache.Observations) obj.Cache.Observations = []; obj.Cache.Observations = obj.Observations; end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Observations = []; 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.Success = obj.Success; cpObj.Status = obj.Status; % Recursively copy compound properties cpObj.Observations = copy(obj.Observations); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Success = strObj.Success; obj.Status = strObj.Status; ObservationsCell = arrayfun(@(x) feval([obj.BwiPlanningCommonPlannerAtomClass '.loadobj'], x), strObj.Observations, 'UniformOutput', false); obj.Observations = vertcat(ObservationsCell{:}); 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.Success = obj.Success; strObj.Status = obj.Status; strObj.Observations = arrayfun(@(x) saveobj(x), obj.Observations); 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.bwi_planning_common.PlannerInterfaceResponse.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.bwi_planning_common.PlannerInterfaceResponse; obj.reload(strObj); end end end