www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+cob_pick_place_action/CobPlaceGoal.m
classdef CobPlaceGoal < robotics.ros.Message %CobPlaceGoal MATLAB implementation of cob_pick_place_action/CobPlaceGoal % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'cob_pick_place_action/CobPlaceGoal' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'eac848fa6d0bba67596f88cde36f673b' % 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) ObjectClass ObjectName SupportSurface Destinations end properties (Access = protected) Cache = struct('Destinations', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Destinations', 'ObjectClass', 'ObjectName', 'SupportSurface'} % List of non-constant message properties ROSPropertyList = {'destinations', 'object_class', 'object_name', 'support_surface'} % List of non-constant ROS message properties end methods function obj = CobPlaceGoal(msg) %CobPlaceGoal Construct the message object CobPlaceGoal 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 objectclass = get.ObjectClass(obj) %get.ObjectClass Get the value for property ObjectClass objectclass = typecast(int32(obj.JavaMessage.getObjectClass), 'uint32'); end function set.ObjectClass(obj, objectclass) %set.ObjectClass Set the value for property ObjectClass validateattributes(objectclass, {'numeric'}, {'nonempty', 'scalar'}, 'CobPlaceGoal', 'ObjectClass'); obj.JavaMessage.setObjectClass(objectclass); 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'}, {}, 'CobPlaceGoal', 'ObjectName'); obj.JavaMessage.setObjectName(objectname); end function supportsurface = get.SupportSurface(obj) %get.SupportSurface Get the value for property SupportSurface supportsurface = char(obj.JavaMessage.getSupportSurface); end function set.SupportSurface(obj, supportsurface) %set.SupportSurface Set the value for property SupportSurface validateattributes(supportsurface, {'char'}, {}, 'CobPlaceGoal', 'SupportSurface'); obj.JavaMessage.setSupportSurface(supportsurface); end function destinations = get.Destinations(obj) %get.Destinations Get the value for property Destinations if isempty(obj.Cache.Destinations) javaArray = obj.JavaMessage.getDestinations; array = obj.readJavaArray(javaArray, obj.GeometryMsgsPoseStampedClass); obj.Cache.Destinations = feval(obj.GeometryMsgsPoseStampedClass, array); end destinations = obj.Cache.Destinations; end function set.Destinations(obj, destinations) %set.Destinations Set the value for property Destinations if ~isvector(destinations) && isempty(destinations) % Allow empty [] input destinations = feval([obj.GeometryMsgsPoseStampedClass '.empty'], 0, 1); end validateattributes(destinations, {obj.GeometryMsgsPoseStampedClass}, {'vector'}, 'CobPlaceGoal', 'Destinations'); javaArray = obj.JavaMessage.getDestinations; array = obj.writeJavaArray(destinations, javaArray, obj.GeometryMsgsPoseStampedClass); obj.JavaMessage.setDestinations(array); % Update cache if necessary if ~isempty(obj.Cache.Destinations) obj.Cache.Destinations = []; obj.Cache.Destinations = obj.Destinations; end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Destinations = []; 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.ObjectClass = obj.ObjectClass; cpObj.ObjectName = obj.ObjectName; cpObj.SupportSurface = obj.SupportSurface; % Recursively copy compound properties cpObj.Destinations = copy(obj.Destinations); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.ObjectClass = strObj.ObjectClass; obj.ObjectName = strObj.ObjectName; obj.SupportSurface = strObj.SupportSurface; DestinationsCell = arrayfun(@(x) feval([obj.GeometryMsgsPoseStampedClass '.loadobj'], x), strObj.Destinations, 'UniformOutput', false); obj.Destinations = vertcat(DestinationsCell{:}); 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.ObjectClass = obj.ObjectClass; strObj.ObjectName = obj.ObjectName; strObj.SupportSurface = obj.SupportSurface; strObj.Destinations = arrayfun(@(x) saveobj(x), obj.Destinations); 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_pick_place_action.CobPlaceGoal.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.cob_pick_place_action.CobPlaceGoal; obj.reload(strObj); end end end