www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+geographic_msgs/WayPoint.m
classdef WayPoint < robotics.ros.Message
%WayPoint MATLAB implementation of geographic_msgs/WayPoint
% This class was automatically generated by
% robotics.ros.msg.internal.gen.MessageClassGenerator.
% Copyright 2014-2016 The MathWorks, Inc.
%#ok<*INUSD>
properties (Constant)
MessageType = 'geographic_msgs/WayPoint' % The ROS message type
end
properties (Constant, Hidden)
MD5Checksum = 'ef04f823aef332455a49eaec3f1761b7' % The MD5 Checksum of the message definition
end
properties (Access = protected)
JavaMessage % The Java message object
end
properties (Constant, Access = protected)
GeographicMsgsGeoPointClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geographic_msgs/GeoPoint') % Dispatch to MATLAB class for message type geographic_msgs/GeoPoint
GeographicMsgsKeyValueClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geographic_msgs/KeyValue') % Dispatch to MATLAB class for message type geographic_msgs/KeyValue
UuidMsgsUniqueIDClass = robotics.ros.msg.internal.MessageFactory.getClassForType('uuid_msgs/UniqueID') % Dispatch to MATLAB class for message type uuid_msgs/UniqueID
end
properties (Dependent)
Id
Position
Props
end
properties (Access = protected)
Cache = struct('Id', [], 'Position', [], 'Props', []) % The cache for fast data access
end
properties (Constant, Hidden)
PropertyList = {'Id', 'Position', 'Props'} % List of non-constant message properties
ROSPropertyList = {'id', 'position', 'props'} % List of non-constant ROS message properties
end
methods
function obj = WayPoint(msg)
%WayPoint Construct the message object WayPoint
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 id = get.Id(obj)
%get.Id Get the value for property Id
if isempty(obj.Cache.Id)
obj.Cache.Id = feval(obj.UuidMsgsUniqueIDClass, obj.JavaMessage.getId);
end
id = obj.Cache.Id;
end
function set.Id(obj, id)
%set.Id Set the value for property Id
validateattributes(id, {obj.UuidMsgsUniqueIDClass}, {'nonempty', 'scalar'}, 'WayPoint', 'Id');
obj.JavaMessage.setId(id.getJavaObject);
% Update cache if necessary
if ~isempty(obj.Cache.Id)
obj.Cache.Id.setJavaObject(id.getJavaObject);
end
end
function position = get.Position(obj)
%get.Position Get the value for property Position
if isempty(obj.Cache.Position)
obj.Cache.Position = feval(obj.GeographicMsgsGeoPointClass, obj.JavaMessage.getPosition);
end
position = obj.Cache.Position;
end
function set.Position(obj, position)
%set.Position Set the value for property Position
validateattributes(position, {obj.GeographicMsgsGeoPointClass}, {'nonempty', 'scalar'}, 'WayPoint', 'Position');
obj.JavaMessage.setPosition(position.getJavaObject);
% Update cache if necessary
if ~isempty(obj.Cache.Position)
obj.Cache.Position.setJavaObject(position.getJavaObject);
end
end
function props = get.Props(obj)
%get.Props Get the value for property Props
if isempty(obj.Cache.Props)
javaArray = obj.JavaMessage.getProps;
array = obj.readJavaArray(javaArray, obj.GeographicMsgsKeyValueClass);
obj.Cache.Props = feval(obj.GeographicMsgsKeyValueClass, array);
end
props = obj.Cache.Props;
end
function set.Props(obj, props)
%set.Props Set the value for property Props
if ~isvector(props) && isempty(props)
% Allow empty [] input
props = feval([obj.GeographicMsgsKeyValueClass '.empty'], 0, 1);
end
validateattributes(props, {obj.GeographicMsgsKeyValueClass}, {'vector'}, 'WayPoint', 'Props');
javaArray = obj.JavaMessage.getProps;
array = obj.writeJavaArray(props, javaArray, obj.GeographicMsgsKeyValueClass);
obj.JavaMessage.setProps(array);
% Update cache if necessary
if ~isempty(obj.Cache.Props)
obj.Cache.Props = [];
obj.Cache.Props = obj.Props;
end
end
end
methods (Access = protected)
function resetCache(obj)
%resetCache Resets any cached properties
obj.Cache.Id = [];
obj.Cache.Position = [];
obj.Cache.Props = [];
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;
% Recursively copy compound properties
cpObj.Id = copy(obj.Id);
cpObj.Position = copy(obj.Position);
cpObj.Props = copy(obj.Props);
end
function reload(obj, strObj)
%reload Called by loadobj to assign properties
obj.Id = feval([obj.UuidMsgsUniqueIDClass '.loadobj'], strObj.Id);
obj.Position = feval([obj.GeographicMsgsGeoPointClass '.loadobj'], strObj.Position);
PropsCell = arrayfun(@(x) feval([obj.GeographicMsgsKeyValueClass '.loadobj'], x), strObj.Props, 'UniformOutput', false);
obj.Props = vertcat(PropsCell{:});
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.Id = saveobj(obj.Id);
strObj.Position = saveobj(obj.Position);
strObj.Props = arrayfun(@(x) saveobj(x), obj.Props);
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.geographic_msgs.WayPoint.empty(0,1);
return
end
% Create an empty message object
obj = robotics.ros.msggen.geographic_msgs.WayPoint;
obj.reload(strObj);
end
end
end