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

    classdef QueryTrajectoryStateResponse < robotics.ros.Message
    %QueryTrajectoryStateResponse MATLAB implementation of control_msgs/QueryTrajectoryStateResponse
    %   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/QueryTrajectoryStateResponse' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = '1f1a6554ad060f44d013e71868403c1a' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Dependent)
        Name
        Position
        Velocity
        Acceleration
    end
    
    properties (Constant, Hidden)
        PropertyList = {'Acceleration', 'Name', 'Position', 'Velocity'} % List of non-constant message properties
        ROSPropertyList = {'acceleration', 'name', 'position', 'velocity'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = QueryTrajectoryStateResponse(msg)
            %QueryTrajectoryStateResponse Construct the message object QueryTrajectoryStateResponse
            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 name = get.Name(obj)
            %get.Name Get the value for property Name
            javaArray = obj.JavaMessage.getName;
            array = obj.readJavaArray(javaArray, 'char');
            name = arrayfun(@(x) char(x), array, 'UniformOutput', false);
        end
        
        function set.Name(obj, name)
            %set.Name Set the value for property Name
            if ~isvector(name) && isempty(name)
                % Allow empty [] input
                name = cell.empty(0,1);
            end
            
            validateattributes(name, {'cell'}, {'vector'}, 'QueryTrajectoryStateResponse', 'Name');
            if any(cellfun(@(x) ~ischar(x), name))
                error(message('robotics:ros:message:CellArrayStringError', ...
                    'name'));
            end
            
            javaArray = obj.JavaMessage.getName;
            array = obj.writeJavaArray(name, javaArray, 'char');
            obj.JavaMessage.setName(array);
        end
        
        function position = get.Position(obj)
            %get.Position Get the value for property Position
            javaArray = obj.JavaMessage.getPosition;
            array = obj.readJavaArray(javaArray, 'double');
            position = double(array);
        end
        
        function set.Position(obj, position)
            %set.Position Set the value for property Position
            if ~isvector(position) && isempty(position)
                % Allow empty [] input
                position = double.empty(0,1);
            end
            
            validateattributes(position, {'numeric'}, {'vector'}, 'QueryTrajectoryStateResponse', 'Position');
            
            javaArray = obj.JavaMessage.getPosition;
            array = obj.writeJavaArray(position, javaArray, 'double');
            obj.JavaMessage.setPosition(array);
        end
        
        function velocity = get.Velocity(obj)
            %get.Velocity Get the value for property Velocity
            javaArray = obj.JavaMessage.getVelocity;
            array = obj.readJavaArray(javaArray, 'double');
            velocity = double(array);
        end
        
        function set.Velocity(obj, velocity)
            %set.Velocity Set the value for property Velocity
            if ~isvector(velocity) && isempty(velocity)
                % Allow empty [] input
                velocity = double.empty(0,1);
            end
            
            validateattributes(velocity, {'numeric'}, {'vector'}, 'QueryTrajectoryStateResponse', 'Velocity');
            
            javaArray = obj.JavaMessage.getVelocity;
            array = obj.writeJavaArray(velocity, javaArray, 'double');
            obj.JavaMessage.setVelocity(array);
        end
        
        function acceleration = get.Acceleration(obj)
            %get.Acceleration Get the value for property Acceleration
            javaArray = obj.JavaMessage.getAcceleration;
            array = obj.readJavaArray(javaArray, 'double');
            acceleration = double(array);
        end
        
        function set.Acceleration(obj, acceleration)
            %set.Acceleration Set the value for property Acceleration
            if ~isvector(acceleration) && isempty(acceleration)
                % Allow empty [] input
                acceleration = double.empty(0,1);
            end
            
            validateattributes(acceleration, {'numeric'}, {'vector'}, 'QueryTrajectoryStateResponse', 'Acceleration');
            
            javaArray = obj.JavaMessage.getAcceleration;
            array = obj.writeJavaArray(acceleration, javaArray, 'double');
            obj.JavaMessage.setAcceleration(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.Name = obj.Name;
            cpObj.Position = obj.Position;
            cpObj.Velocity = obj.Velocity;
            cpObj.Acceleration = obj.Acceleration;
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.Name = strObj.Name;
            obj.Position = strObj.Position;
            obj.Velocity = strObj.Velocity;
            obj.Acceleration = strObj.Acceleration;
        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.Name = obj.Name;
            strObj.Position = obj.Position;
            strObj.Velocity = obj.Velocity;
            strObj.Acceleration = obj.Acceleration;
        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.QueryTrajectoryStateResponse.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.control_msgs.QueryTrajectoryStateResponse;
            obj.reload(strObj);
        end
    end
end