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