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

    classdef GripperCommandResult < robotics.ros.Message
    %GripperCommandResult MATLAB implementation of control_msgs/GripperCommandResult
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'control_msgs/GripperCommandResult' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = 'e4cbff56d3562bcf113da5a5adeef91f' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Dependent)
        Position
        Effort
        Stalled
        ReachedGoal
    end
    
    properties (Constant, Hidden)
        PropertyList = {'Effort', 'Position', 'ReachedGoal', 'Stalled'} % List of non-constant message properties
        ROSPropertyList = {'effort', 'position', 'reached_goal', 'stalled'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = GripperCommandResult(msg)
            %GripperCommandResult Construct the message object GripperCommandResult
            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 position = get.Position(obj)
            %get.Position Get the value for property Position
            position = double(obj.JavaMessage.getPosition);
        end
        
        function set.Position(obj, position)
            %set.Position Set the value for property Position
            validateattributes(position, {'numeric'}, {'nonempty', 'scalar'}, 'GripperCommandResult', 'Position');
            
            obj.JavaMessage.setPosition(position);
        end
        
        function effort = get.Effort(obj)
            %get.Effort Get the value for property Effort
            effort = double(obj.JavaMessage.getEffort);
        end
        
        function set.Effort(obj, effort)
            %set.Effort Set the value for property Effort
            validateattributes(effort, {'numeric'}, {'nonempty', 'scalar'}, 'GripperCommandResult', 'Effort');
            
            obj.JavaMessage.setEffort(effort);
        end
        
        function stalled = get.Stalled(obj)
            %get.Stalled Get the value for property Stalled
            stalled = logical(obj.JavaMessage.getStalled);
        end
        
        function set.Stalled(obj, stalled)
            %set.Stalled Set the value for property Stalled
            validateattributes(stalled, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'GripperCommandResult', 'Stalled');
            
            obj.JavaMessage.setStalled(stalled);
        end
        
        function reachedgoal = get.ReachedGoal(obj)
            %get.ReachedGoal Get the value for property ReachedGoal
            reachedgoal = logical(obj.JavaMessage.getReachedGoal);
        end
        
        function set.ReachedGoal(obj, reachedgoal)
            %set.ReachedGoal Set the value for property ReachedGoal
            validateattributes(reachedgoal, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'GripperCommandResult', 'ReachedGoal');
            
            obj.JavaMessage.setReachedGoal(reachedgoal);
        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.Position = obj.Position;
            cpObj.Effort = obj.Effort;
            cpObj.Stalled = obj.Stalled;
            cpObj.ReachedGoal = obj.ReachedGoal;
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.Position = strObj.Position;
            obj.Effort = strObj.Effort;
            obj.Stalled = strObj.Stalled;
            obj.ReachedGoal = strObj.ReachedGoal;
        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.Position = obj.Position;
            strObj.Effort = obj.Effort;
            strObj.Stalled = obj.Stalled;
            strObj.ReachedGoal = obj.ReachedGoal;
        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.control_msgs.GripperCommandResult.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.control_msgs.GripperCommandResult;
            obj.reload(strObj);
        end
    end
end