www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+cob_phidgets/DigitalSensor.m
classdef DigitalSensor < robotics.ros.Message %DigitalSensor MATLAB implementation of cob_phidgets/DigitalSensor % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'cob_phidgets/DigitalSensor' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'a7555c23666cea5795a76c1bdec02d2c' % 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 Uri State end properties (Access = protected) Cache = struct('Header', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Header', 'State', 'Uri'} % List of non-constant message properties ROSPropertyList = {'header', 'state', 'uri'} % List of non-constant ROS message properties end methods function obj = DigitalSensor(msg) %DigitalSensor Construct the message object DigitalSensor 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'}, 'DigitalSensor', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function uri = get.Uri(obj) %get.Uri Get the value for property Uri javaArray = obj.JavaMessage.getUri; array = obj.readJavaArray(javaArray, 'char'); uri = arrayfun(@(x) char(x), array, 'UniformOutput', false); end function set.Uri(obj, uri) %set.Uri Set the value for property Uri if ~isvector(uri) && isempty(uri) % Allow empty [] input uri = cell.empty(0,1); end validateattributes(uri, {'cell'}, {'vector'}, 'DigitalSensor', 'Uri'); if any(cellfun(@(x) ~ischar(x), uri)) error(message('robotics:ros:message:CellArrayStringError', ... 'uri')); end javaArray = obj.JavaMessage.getUri; array = obj.writeJavaArray(uri, javaArray, 'char'); obj.JavaMessage.setUri(array); end function state = get.State(obj) %get.State Get the value for property State javaArray = obj.JavaMessage.getState; array = obj.readJavaArray(javaArray, 'int8'); state = int8(array); end function set.State(obj, state) %set.State Set the value for property State if ~isvector(state) && isempty(state) % Allow empty [] input state = int8.empty(0,1); end validateattributes(state, {'numeric'}, {'vector'}, 'DigitalSensor', 'State'); javaArray = obj.JavaMessage.getState; array = obj.writeJavaArray(state, javaArray, 'int8'); obj.JavaMessage.setState(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.Uri = obj.Uri; cpObj.State = obj.State; % Recursively copy compound properties cpObj.Header = copy(obj.Header); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Uri = strObj.Uri; obj.State = strObj.State; 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.Uri = obj.Uri; strObj.State = obj.State; 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.cob_phidgets.DigitalSensor.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.cob_phidgets.DigitalSensor; obj.reload(strObj); end end end