www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+geometry_msgs/PolygonStamped.m
classdef PolygonStamped < robotics.ros.Message %PolygonStamped MATLAB implementation of geometry_msgs/PolygonStamped % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'geometry_msgs/PolygonStamped' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'c6be8f7dc3bee7fe9e8d296070f53340' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) GeometryMsgsPolygonClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Polygon') % Dispatch to MATLAB class for message type geometry_msgs/Polygon StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header end properties (Dependent) Header Polygon end properties (Access = protected) Cache = struct('Header', [], 'Polygon', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Header', 'Polygon'} % List of non-constant message properties ROSPropertyList = {'header', 'polygon'} % List of non-constant ROS message properties end methods function obj = PolygonStamped(msg) %PolygonStamped Construct the message object PolygonStamped 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 header = get.Header(obj) %get.Header Get the value for property Header if isempty(obj.Cache.Header) obj.Cache.Header = feval(obj.StdMsgsHeaderClass, obj.JavaMessage.getHeader); end header = obj.Cache.Header; end function set.Header(obj, header) %set.Header Set the value for property Header validateattributes(header, {obj.StdMsgsHeaderClass}, {'nonempty', 'scalar'}, 'PolygonStamped', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function polygon = get.Polygon(obj) %get.Polygon Get the value for property Polygon if isempty(obj.Cache.Polygon) obj.Cache.Polygon = feval(obj.GeometryMsgsPolygonClass, obj.JavaMessage.getPolygon); end polygon = obj.Cache.Polygon; end function set.Polygon(obj, polygon) %set.Polygon Set the value for property Polygon validateattributes(polygon, {obj.GeometryMsgsPolygonClass}, {'nonempty', 'scalar'}, 'PolygonStamped', 'Polygon'); obj.JavaMessage.setPolygon(polygon.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Polygon) obj.Cache.Polygon.setJavaObject(polygon.getJavaObject); end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Header = []; obj.Cache.Polygon = []; 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.Header = copy(obj.Header); cpObj.Polygon = copy(obj.Polygon); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header); obj.Polygon = feval([obj.GeometryMsgsPolygonClass '.loadobj'], strObj.Polygon); 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.Header = saveobj(obj.Header); strObj.Polygon = saveobj(obj.Polygon); 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.geometry_msgs.PolygonStamped.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.geometry_msgs.PolygonStamped; obj.reload(strObj); end end end