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