www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+cob_srvs/SetJointStiffnessRequest.m
classdef SetJointStiffnessRequest < robotics.ros.Message %SetJointStiffnessRequest MATLAB implementation of cob_srvs/SetJointStiffnessRequest % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'cob_srvs/SetJointStiffnessRequest' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '3f30c4d99702f028fe1bef65668a3d21' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Dependent) JointStiffness end properties (Constant, Hidden) PropertyList = {'JointStiffness'} % List of non-constant message properties ROSPropertyList = {'joint_stiffness'} % List of non-constant ROS message properties end methods function obj = SetJointStiffnessRequest(msg) %SetJointStiffnessRequest Construct the message object SetJointStiffnessRequest 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 jointstiffness = get.JointStiffness(obj) %get.JointStiffness Get the value for property JointStiffness javaArray = obj.JavaMessage.getJointStiffness; array = obj.readJavaArray(javaArray, 'single'); jointstiffness = single(array); end function set.JointStiffness(obj, jointstiffness) %set.JointStiffness Set the value for property JointStiffness if ~isvector(jointstiffness) && isempty(jointstiffness) % Allow empty [] input jointstiffness = single.empty(0,1); end validateattributes(jointstiffness, {'numeric'}, {'vector'}, 'SetJointStiffnessRequest', 'JointStiffness'); javaArray = obj.JavaMessage.getJointStiffness; array = obj.writeJavaArray(jointstiffness, javaArray, 'single'); obj.JavaMessage.setJointStiffness(array); end end methods (Access = protected) function cpObj = copyElement(obj) %copyElement Implements deep copy behavior for message % Call default copy method for shallow copy cpObj = copyElement@robotics.ros.Message(obj); % Create a new Java message object cpObj.JavaMessage = obj.createNewJavaMessage; % Iterate over all primitive properties cpObj.JointStiffness = obj.JointStiffness; end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.JointStiffness = strObj.JointStiffness; 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.JointStiffness = obj.JointStiffness; 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_srvs.SetJointStiffnessRequest.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.cob_srvs.SetJointStiffnessRequest; obj.reload(strObj); end end end