www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+create_node/Turtle.m
classdef Turtle < robotics.ros.Message %Turtle MATLAB implementation of create_node/Turtle % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'create_node/Turtle' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '9d5c2dcd348ac8f76ce2a4307bd63a13' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Dependent) Linear Angular end properties (Constant, Hidden) PropertyList = {'Angular', 'Linear'} % List of non-constant message properties ROSPropertyList = {'angular', 'linear'} % List of non-constant ROS message properties end methods function obj = Turtle(msg) %Turtle Construct the message object Turtle 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 linear = get.Linear(obj) %get.Linear Get the value for property Linear linear = single(obj.JavaMessage.getLinear); end function set.Linear(obj, linear) %set.Linear Set the value for property Linear validateattributes(linear, {'numeric'}, {'nonempty', 'scalar'}, 'Turtle', 'Linear'); obj.JavaMessage.setLinear(linear); end function angular = get.Angular(obj) %get.Angular Get the value for property Angular angular = single(obj.JavaMessage.getAngular); end function set.Angular(obj, angular) %set.Angular Set the value for property Angular validateattributes(angular, {'numeric'}, {'nonempty', 'scalar'}, 'Turtle', 'Angular'); obj.JavaMessage.setAngular(angular); 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.Linear = obj.Linear; cpObj.Angular = obj.Angular; end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Linear = strObj.Linear; obj.Angular = strObj.Angular; 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.Linear = obj.Linear; strObj.Angular = obj.Angular; 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.create_node.Turtle.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.create_node.Turtle; obj.reload(strObj); end end end