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

    classdef GetPhysicsPropertiesResponse < robotics.ros.Message
    %GetPhysicsPropertiesResponse MATLAB implementation of gazebo_msgs/GetPhysicsPropertiesResponse
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'gazebo_msgs/GetPhysicsPropertiesResponse' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = '575a5e74786981b7df2e3afc567693a6' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Constant, Access = protected)
        GazeboMsgsODEPhysicsClass = robotics.ros.msg.internal.MessageFactory.getClassForType('gazebo_msgs/ODEPhysics') % Dispatch to MATLAB class for message type gazebo_msgs/ODEPhysics
        GeometryMsgsVector3Class = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Vector3') % Dispatch to MATLAB class for message type geometry_msgs/Vector3
    end
    
    properties (Dependent)
        TimeStep
        Pause
        MaxUpdateRate
        Gravity
        OdeConfig
        Success
        StatusMessage
    end
    
    properties (Access = protected)
        Cache = struct('Gravity', [], 'OdeConfig', []) % The cache for fast data access
    end
    
    properties (Constant, Hidden)
        PropertyList = {'Gravity', 'MaxUpdateRate', 'OdeConfig', 'Pause', 'StatusMessage', 'Success', 'TimeStep'} % List of non-constant message properties
        ROSPropertyList = {'gravity', 'max_update_rate', 'ode_config', 'pause', 'status_message', 'success', 'time_step'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = GetPhysicsPropertiesResponse(msg)
            %GetPhysicsPropertiesResponse Construct the message object GetPhysicsPropertiesResponse
            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 timestep = get.TimeStep(obj)
            %get.TimeStep Get the value for property TimeStep
            timestep = double(obj.JavaMessage.getTimeStep);
        end
        
        function set.TimeStep(obj, timestep)
            %set.TimeStep Set the value for property TimeStep
            validateattributes(timestep, {'numeric'}, {'nonempty', 'scalar'}, 'GetPhysicsPropertiesResponse', 'TimeStep');
            
            obj.JavaMessage.setTimeStep(timestep);
        end
        
        function pause = get.Pause(obj)
            %get.Pause Get the value for property Pause
            pause = logical(obj.JavaMessage.getPause);
        end
        
        function set.Pause(obj, pause)
            %set.Pause Set the value for property Pause
            validateattributes(pause, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'GetPhysicsPropertiesResponse', 'Pause');
            
            obj.JavaMessage.setPause(pause);
        end
        
        function maxupdaterate = get.MaxUpdateRate(obj)
            %get.MaxUpdateRate Get the value for property MaxUpdateRate
            maxupdaterate = double(obj.JavaMessage.getMaxUpdateRate);
        end
        
        function set.MaxUpdateRate(obj, maxupdaterate)
            %set.MaxUpdateRate Set the value for property MaxUpdateRate
            validateattributes(maxupdaterate, {'numeric'}, {'nonempty', 'scalar'}, 'GetPhysicsPropertiesResponse', 'MaxUpdateRate');
            
            obj.JavaMessage.setMaxUpdateRate(maxupdaterate);
        end
        
        function gravity = get.Gravity(obj)
            %get.Gravity Get the value for property Gravity
            if isempty(obj.Cache.Gravity)
                obj.Cache.Gravity = feval(obj.GeometryMsgsVector3Class, obj.JavaMessage.getGravity);
            end
            gravity = obj.Cache.Gravity;
        end
        
        function set.Gravity(obj, gravity)
            %set.Gravity Set the value for property Gravity
            validateattributes(gravity, {obj.GeometryMsgsVector3Class}, {'nonempty', 'scalar'}, 'GetPhysicsPropertiesResponse', 'Gravity');
            
            obj.JavaMessage.setGravity(gravity.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.Gravity)
                obj.Cache.Gravity.setJavaObject(gravity.getJavaObject);
            end
        end
        
        function odeconfig = get.OdeConfig(obj)
            %get.OdeConfig Get the value for property OdeConfig
            if isempty(obj.Cache.OdeConfig)
                obj.Cache.OdeConfig = feval(obj.GazeboMsgsODEPhysicsClass, obj.JavaMessage.getOdeConfig);
            end
            odeconfig = obj.Cache.OdeConfig;
        end
        
        function set.OdeConfig(obj, odeconfig)
            %set.OdeConfig Set the value for property OdeConfig
            validateattributes(odeconfig, {obj.GazeboMsgsODEPhysicsClass}, {'nonempty', 'scalar'}, 'GetPhysicsPropertiesResponse', 'OdeConfig');
            
            obj.JavaMessage.setOdeConfig(odeconfig.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.OdeConfig)
                obj.Cache.OdeConfig.setJavaObject(odeconfig.getJavaObject);
            end
        end
        
        function success = get.Success(obj)
            %get.Success Get the value for property Success
            success = logical(obj.JavaMessage.getSuccess);
        end
        
        function set.Success(obj, success)
            %set.Success Set the value for property Success
            validateattributes(success, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'GetPhysicsPropertiesResponse', 'Success');
            
            obj.JavaMessage.setSuccess(success);
        end
        
        function statusmessage = get.StatusMessage(obj)
            %get.StatusMessage Get the value for property StatusMessage
            statusmessage = char(obj.JavaMessage.getStatusMessage);
        end
        
        function set.StatusMessage(obj, statusmessage)
            %set.StatusMessage Set the value for property StatusMessage
            validateattributes(statusmessage, {'char'}, {}, 'GetPhysicsPropertiesResponse', 'StatusMessage');
            
            obj.JavaMessage.setStatusMessage(statusmessage);
        end
    end
    
    methods (Access = protected)
        function resetCache(obj)
            %resetCache Resets any cached properties
            obj.Cache.Gravity = [];
            obj.Cache.OdeConfig = [];
        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.TimeStep = obj.TimeStep;
            cpObj.Pause = obj.Pause;
            cpObj.MaxUpdateRate = obj.MaxUpdateRate;
            cpObj.Success = obj.Success;
            cpObj.StatusMessage = obj.StatusMessage;
            
            % Recursively copy compound properties
            cpObj.Gravity = copy(obj.Gravity);
            cpObj.OdeConfig = copy(obj.OdeConfig);
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.TimeStep = strObj.TimeStep;
            obj.Pause = strObj.Pause;
            obj.MaxUpdateRate = strObj.MaxUpdateRate;
            obj.Success = strObj.Success;
            obj.StatusMessage = strObj.StatusMessage;
            obj.Gravity = feval([obj.GeometryMsgsVector3Class '.loadobj'], strObj.Gravity);
            obj.OdeConfig = feval([obj.GazeboMsgsODEPhysicsClass '.loadobj'], strObj.OdeConfig);
        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.TimeStep = obj.TimeStep;
            strObj.Pause = obj.Pause;
            strObj.MaxUpdateRate = obj.MaxUpdateRate;
            strObj.Success = obj.Success;
            strObj.StatusMessage = obj.StatusMessage;
            strObj.Gravity = saveobj(obj.Gravity);
            strObj.OdeConfig = saveobj(obj.OdeConfig);
        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.gazebo_msgs.GetPhysicsPropertiesResponse.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.gazebo_msgs.GetPhysicsPropertiesResponse;
            obj.reload(strObj);
        end
    end
end