www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+graft/GraftControl.m
classdef GraftControl < robotics.ros.Message %GraftControl MATLAB implementation of graft/GraftControl % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'graft/GraftControl' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'f41b0858f042a487e729d7efdbffed39' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) GeometryMsgsPointClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Point') % Dispatch to MATLAB class for message type geometry_msgs/Point GeometryMsgsTwistClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Twist') % Dispatch to MATLAB class for message type geometry_msgs/Twist GeometryMsgsVector3Class = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Vector3') % Dispatch to MATLAB class for message type geometry_msgs/Vector3 StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header end properties (Dependent) Header Position Rotation Twist Acceleration end properties (Access = protected) Cache = struct('Header', [], 'Position', [], 'Rotation', [], 'Twist', [], 'Acceleration', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Acceleration', 'Header', 'Position', 'Rotation', 'Twist'} % List of non-constant message properties ROSPropertyList = {'acceleration', 'header', 'position', 'rotation', 'twist'} % List of non-constant ROS message properties end methods function obj = GraftControl(msg) %GraftControl Construct the message object GraftControl 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'}, 'GraftControl', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.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.GeometryMsgsPointClass, 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.GeometryMsgsPointClass}, {'nonempty', 'scalar'}, 'GraftControl', 'Position'); obj.JavaMessage.setPosition(position.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Position) obj.Cache.Position.setJavaObject(position.getJavaObject); end end function rotation = get.Rotation(obj) %get.Rotation Get the value for property Rotation if isempty(obj.Cache.Rotation) obj.Cache.Rotation = feval(obj.GeometryMsgsVector3Class, obj.JavaMessage.getRotation); end rotation = obj.Cache.Rotation; end function set.Rotation(obj, rotation) %set.Rotation Set the value for property Rotation validateattributes(rotation, {obj.GeometryMsgsVector3Class}, {'nonempty', 'scalar'}, 'GraftControl', 'Rotation'); obj.JavaMessage.setRotation(rotation.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Rotation) obj.Cache.Rotation.setJavaObject(rotation.getJavaObject); end end function twist = get.Twist(obj) %get.Twist Get the value for property Twist if isempty(obj.Cache.Twist) obj.Cache.Twist = feval(obj.GeometryMsgsTwistClass, obj.JavaMessage.getTwist); end twist = obj.Cache.Twist; end function set.Twist(obj, twist) %set.Twist Set the value for property Twist validateattributes(twist, {obj.GeometryMsgsTwistClass}, {'nonempty', 'scalar'}, 'GraftControl', 'Twist'); obj.JavaMessage.setTwist(twist.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Twist) obj.Cache.Twist.setJavaObject(twist.getJavaObject); end end function acceleration = get.Acceleration(obj) %get.Acceleration Get the value for property Acceleration if isempty(obj.Cache.Acceleration) obj.Cache.Acceleration = feval(obj.GeometryMsgsVector3Class, obj.JavaMessage.getAcceleration); end acceleration = obj.Cache.Acceleration; end function set.Acceleration(obj, acceleration) %set.Acceleration Set the value for property Acceleration validateattributes(acceleration, {obj.GeometryMsgsVector3Class}, {'nonempty', 'scalar'}, 'GraftControl', 'Acceleration'); obj.JavaMessage.setAcceleration(acceleration.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Acceleration) obj.Cache.Acceleration.setJavaObject(acceleration.getJavaObject); end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Header = []; obj.Cache.Position = []; obj.Cache.Rotation = []; obj.Cache.Twist = []; obj.Cache.Acceleration = []; 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.Position = copy(obj.Position); cpObj.Rotation = copy(obj.Rotation); cpObj.Twist = copy(obj.Twist); cpObj.Acceleration = copy(obj.Acceleration); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header); obj.Position = feval([obj.GeometryMsgsPointClass '.loadobj'], strObj.Position); obj.Rotation = feval([obj.GeometryMsgsVector3Class '.loadobj'], strObj.Rotation); obj.Twist = feval([obj.GeometryMsgsTwistClass '.loadobj'], strObj.Twist); obj.Acceleration = feval([obj.GeometryMsgsVector3Class '.loadobj'], strObj.Acceleration); 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.Position = saveobj(obj.Position); strObj.Rotation = saveobj(obj.Rotation); strObj.Twist = saveobj(obj.Twist); strObj.Acceleration = saveobj(obj.Acceleration); 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.graft.GraftControl.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.graft.GraftControl; obj.reload(strObj); end end end