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