www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+control_msgs/JointTrajectoryControllerState.m
classdef JointTrajectoryControllerState < robotics.ros.Message %JointTrajectoryControllerState MATLAB implementation of control_msgs/JointTrajectoryControllerState % 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/JointTrajectoryControllerState' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '10817c60c2486ef6b33e97dcd87f4474' % 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 TrajectoryMsgsJointTrajectoryPointClass = robotics.ros.msg.internal.MessageFactory.getClassForType('trajectory_msgs/JointTrajectoryPoint') % Dispatch to MATLAB class for message type trajectory_msgs/JointTrajectoryPoint end properties (Dependent) Header Desired Actual Error JointNames end properties (Access = protected) Cache = struct('Header', [], 'Desired', [], 'Actual', [], 'Error', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Actual', 'Desired', 'Error', 'Header', 'JointNames'} % List of non-constant message properties ROSPropertyList = {'actual', 'desired', 'error', 'header', 'joint_names'} % List of non-constant ROS message properties end methods function obj = JointTrajectoryControllerState(msg) %JointTrajectoryControllerState Construct the message object JointTrajectoryControllerState 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'}, 'JointTrajectoryControllerState', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function desired = get.Desired(obj) %get.Desired Get the value for property Desired if isempty(obj.Cache.Desired) obj.Cache.Desired = feval(obj.TrajectoryMsgsJointTrajectoryPointClass, obj.JavaMessage.getDesired); end desired = obj.Cache.Desired; end function set.Desired(obj, desired) %set.Desired Set the value for property Desired validateattributes(desired, {obj.TrajectoryMsgsJointTrajectoryPointClass}, {'nonempty', 'scalar'}, 'JointTrajectoryControllerState', 'Desired'); obj.JavaMessage.setDesired(desired.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Desired) obj.Cache.Desired.setJavaObject(desired.getJavaObject); end end function actual = get.Actual(obj) %get.Actual Get the value for property Actual if isempty(obj.Cache.Actual) obj.Cache.Actual = feval(obj.TrajectoryMsgsJointTrajectoryPointClass, obj.JavaMessage.getActual); end actual = obj.Cache.Actual; end function set.Actual(obj, actual) %set.Actual Set the value for property Actual validateattributes(actual, {obj.TrajectoryMsgsJointTrajectoryPointClass}, {'nonempty', 'scalar'}, 'JointTrajectoryControllerState', 'Actual'); obj.JavaMessage.setActual(actual.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Actual) obj.Cache.Actual.setJavaObject(actual.getJavaObject); end end function error = get.Error(obj) %get.Error Get the value for property Error if isempty(obj.Cache.Error) obj.Cache.Error = feval(obj.TrajectoryMsgsJointTrajectoryPointClass, obj.JavaMessage.getError); end error = obj.Cache.Error; end function set.Error(obj, error) %set.Error Set the value for property Error validateattributes(error, {obj.TrajectoryMsgsJointTrajectoryPointClass}, {'nonempty', 'scalar'}, 'JointTrajectoryControllerState', 'Error'); obj.JavaMessage.setError(error.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Error) obj.Cache.Error.setJavaObject(error.getJavaObject); end end function jointnames = get.JointNames(obj) %get.JointNames Get the value for property JointNames javaArray = obj.JavaMessage.getJointNames; array = obj.readJavaArray(javaArray, 'char'); jointnames = arrayfun(@(x) char(x), array, 'UniformOutput', false); end function set.JointNames(obj, jointnames) %set.JointNames Set the value for property JointNames if ~isvector(jointnames) && isempty(jointnames) % Allow empty [] input jointnames = cell.empty(0,1); end validateattributes(jointnames, {'cell'}, {'vector'}, 'JointTrajectoryControllerState', 'JointNames'); if any(cellfun(@(x) ~ischar(x), jointnames)) error(message('robotics:ros:message:CellArrayStringError', ... 'jointnames')); end javaArray = obj.JavaMessage.getJointNames; array = obj.writeJavaArray(jointnames, javaArray, 'char'); obj.JavaMessage.setJointNames(array); end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Header = []; obj.Cache.Desired = []; obj.Cache.Actual = []; obj.Cache.Error = []; 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.JointNames = obj.JointNames; % Recursively copy compound properties cpObj.Header = copy(obj.Header); cpObj.Desired = copy(obj.Desired); cpObj.Actual = copy(obj.Actual); cpObj.Error = copy(obj.Error); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.JointNames = strObj.JointNames; obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header); obj.Desired = feval([obj.TrajectoryMsgsJointTrajectoryPointClass '.loadobj'], strObj.Desired); obj.Actual = feval([obj.TrajectoryMsgsJointTrajectoryPointClass '.loadobj'], strObj.Actual); obj.Error = feval([obj.TrajectoryMsgsJointTrajectoryPointClass '.loadobj'], strObj.Error); 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.JointNames = obj.JointNames; strObj.Header = saveobj(obj.Header); strObj.Desired = saveobj(obj.Desired); strObj.Actual = saveobj(obj.Actual); strObj.Error = saveobj(obj.Error); 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.JointTrajectoryControllerState.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.control_msgs.JointTrajectoryControllerState; obj.reload(strObj); end end end