www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+cob_object_detection_msgs/AcquireObjectImageGoal.m

    classdef AcquireObjectImageGoal < robotics.ros.Message
    %AcquireObjectImageGoal MATLAB implementation of cob_object_detection_msgs/AcquireObjectImageGoal
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'cob_object_detection_msgs/AcquireObjectImageGoal' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = 'a834da64b488488418ecf10d2737befd' % 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)
        ObjectName
        ResetImageCounter
        Pose
        SdhJoints
    end
    
    properties (Access = protected)
        Cache = struct('Pose', [], 'SdhJoints', []) % The cache for fast data access
    end
    
    properties (Constant, Hidden)
        PropertyList = {'ObjectName', 'Pose', 'ResetImageCounter', 'SdhJoints'} % List of non-constant message properties
        ROSPropertyList = {'object_name', 'pose', 'reset_image_counter', 'sdh_joints'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = AcquireObjectImageGoal(msg)
            %AcquireObjectImageGoal Construct the message object AcquireObjectImageGoal
            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 objectname = get.ObjectName(obj)
            %get.ObjectName Get the value for property ObjectName
            objectname = char(obj.JavaMessage.getObjectName);
        end
        
        function set.ObjectName(obj, objectname)
            %set.ObjectName Set the value for property ObjectName
            validateattributes(objectname, {'char'}, {}, 'AcquireObjectImageGoal', 'ObjectName');
            
            obj.JavaMessage.setObjectName(objectname);
        end
        
        function resetimagecounter = get.ResetImageCounter(obj)
            %get.ResetImageCounter Get the value for property ResetImageCounter
            resetimagecounter = logical(obj.JavaMessage.getResetImageCounter);
        end
        
        function set.ResetImageCounter(obj, resetimagecounter)
            %set.ResetImageCounter Set the value for property ResetImageCounter
            validateattributes(resetimagecounter, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'AcquireObjectImageGoal', 'ResetImageCounter');
            
            obj.JavaMessage.setResetImageCounter(resetimagecounter);
        end
        
        function pose = get.Pose(obj)
            %get.Pose Get the value for property Pose
            if isempty(obj.Cache.Pose)
                obj.Cache.Pose = feval(obj.GeometryMsgsPoseStampedClass, obj.JavaMessage.getPose);
            end
            pose = obj.Cache.Pose;
        end
        
        function set.Pose(obj, pose)
            %set.Pose Set the value for property Pose
            validateattributes(pose, {obj.GeometryMsgsPoseStampedClass}, {'nonempty', 'scalar'}, 'AcquireObjectImageGoal', 'Pose');
            
            obj.JavaMessage.setPose(pose.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.Pose)
                obj.Cache.Pose.setJavaObject(pose.getJavaObject);
            end
        end
        
        function sdhjoints = get.SdhJoints(obj)
            %get.SdhJoints Get the value for property SdhJoints
            if isempty(obj.Cache.SdhJoints)
                javaArray = obj.JavaMessage.getSdhJoints;
                array = obj.readJavaArray(javaArray, obj.GeometryMsgsPoseStampedClass);
                obj.Cache.SdhJoints = feval(obj.GeometryMsgsPoseStampedClass, array);
            end
            sdhjoints = obj.Cache.SdhJoints;
        end
        
        function set.SdhJoints(obj, sdhjoints)
            %set.SdhJoints Set the value for property SdhJoints
            if ~isvector(sdhjoints) && isempty(sdhjoints)
                % Allow empty [] input
                sdhjoints = feval([obj.GeometryMsgsPoseStampedClass '.empty'], 0, 1);
            end
            
            validateattributes(sdhjoints, {obj.GeometryMsgsPoseStampedClass}, {'vector'}, 'AcquireObjectImageGoal', 'SdhJoints');
            
            javaArray = obj.JavaMessage.getSdhJoints;
            array = obj.writeJavaArray(sdhjoints, javaArray, obj.GeometryMsgsPoseStampedClass);
            obj.JavaMessage.setSdhJoints(array);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.SdhJoints)
                obj.Cache.SdhJoints = [];
                obj.Cache.SdhJoints = obj.SdhJoints;
            end
        end
    end
    
    methods (Access = protected)
        function resetCache(obj)
            %resetCache Resets any cached properties
            obj.Cache.Pose = [];
            obj.Cache.SdhJoints = [];
        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.ObjectName = obj.ObjectName;
            cpObj.ResetImageCounter = obj.ResetImageCounter;
            
            % Recursively copy compound properties
            cpObj.Pose = copy(obj.Pose);
            cpObj.SdhJoints = copy(obj.SdhJoints);
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.ObjectName = strObj.ObjectName;
            obj.ResetImageCounter = strObj.ResetImageCounter;
            obj.Pose = feval([obj.GeometryMsgsPoseStampedClass '.loadobj'], strObj.Pose);
            SdhJointsCell = arrayfun(@(x) feval([obj.GeometryMsgsPoseStampedClass '.loadobj'], x), strObj.SdhJoints, 'UniformOutput', false);
            obj.SdhJoints = vertcat(SdhJointsCell{:});
        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.ObjectName = obj.ObjectName;
            strObj.ResetImageCounter = obj.ResetImageCounter;
            strObj.Pose = saveobj(obj.Pose);
            strObj.SdhJoints = arrayfun(@(x) saveobj(x), obj.SdhJoints);
        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.cob_object_detection_msgs.AcquireObjectImageGoal.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.cob_object_detection_msgs.AcquireObjectImageGoal;
            obj.reload(strObj);
        end
    end
end