www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+geometry_msgs/TransformStamped.m
classdef TransformStamped < robotics.ros.Message %TransformStamped MATLAB implementation of geometry_msgs/TransformStamped % 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/TransformStamped' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'b5764a33bfeb3588febc2682852579b0' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) GeometryMsgsTransformClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Transform') % Dispatch to MATLAB class for message type geometry_msgs/Transform StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header end properties (Dependent) Header ChildFrameId Transform end properties (Access = protected) Cache = struct('Header', [], 'Transform', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'ChildFrameId', 'Header', 'Transform'} % List of non-constant message properties ROSPropertyList = {'child_frame_id', 'header', 'transform'} % List of non-constant ROS message properties end methods function obj = TransformStamped(msg) %TransformStamped Construct the message object TransformStamped 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'}, 'TransformStamped', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function childframeid = get.ChildFrameId(obj) %get.ChildFrameId Get the value for property ChildFrameId childframeid = char(obj.JavaMessage.getChildFrameId); end function set.ChildFrameId(obj, childframeid) %set.ChildFrameId Set the value for property ChildFrameId validateattributes(childframeid, {'char'}, {}, 'TransformStamped', 'ChildFrameId'); obj.JavaMessage.setChildFrameId(childframeid); end function transform = get.Transform(obj) %get.Transform Get the value for property Transform if isempty(obj.Cache.Transform) obj.Cache.Transform = feval(obj.GeometryMsgsTransformClass, obj.JavaMessage.getTransform); end transform = obj.Cache.Transform; end function set.Transform(obj, transform) %set.Transform Set the value for property Transform validateattributes(transform, {obj.GeometryMsgsTransformClass}, {'nonempty', 'scalar'}, 'TransformStamped', 'Transform'); obj.JavaMessage.setTransform(transform.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Transform) obj.Cache.Transform.setJavaObject(transform.getJavaObject); end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Header = []; obj.Cache.Transform = []; 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.ChildFrameId = obj.ChildFrameId; % Recursively copy compound properties cpObj.Header = copy(obj.Header); cpObj.Transform = copy(obj.Transform); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.ChildFrameId = strObj.ChildFrameId; obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header); obj.Transform = feval([obj.GeometryMsgsTransformClass '.loadobj'], strObj.Transform); 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.ChildFrameId = obj.ChildFrameId; strObj.Header = saveobj(obj.Header); strObj.Transform = saveobj(obj.Transform); 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.TransformStamped.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.geometry_msgs.TransformStamped; obj.reload(strObj); end end end