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

    classdef GeometryGraph < robotics.ros.Message
    %GeometryGraph MATLAB implementation of graph_msgs/GeometryGraph
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'graph_msgs/GeometryGraph' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = '6f18eb8b18a1c0df93480c68feb2fd89' % 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
        GraphMsgsEdgesClass = robotics.ros.msg.internal.MessageFactory.getClassForType('graph_msgs/Edges') % Dispatch to MATLAB class for message type graph_msgs/Edges
    end
    
    properties (Dependent)
        Nodes
        Edges
    end
    
    properties (Access = protected)
        Cache = struct('Nodes', [], 'Edges', []) % The cache for fast data access
    end
    
    properties (Constant, Hidden)
        PropertyList = {'Edges', 'Nodes'} % List of non-constant message properties
        ROSPropertyList = {'edges', 'nodes'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = GeometryGraph(msg)
            %GeometryGraph Construct the message object GeometryGraph
            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 nodes = get.Nodes(obj)
            %get.Nodes Get the value for property Nodes
            if isempty(obj.Cache.Nodes)
                javaArray = obj.JavaMessage.getNodes;
                array = obj.readJavaArray(javaArray, obj.GeometryMsgsPointClass);
                obj.Cache.Nodes = feval(obj.GeometryMsgsPointClass, array);
            end
            nodes = obj.Cache.Nodes;
        end
        
        function set.Nodes(obj, nodes)
            %set.Nodes Set the value for property Nodes
            if ~isvector(nodes) && isempty(nodes)
                % Allow empty [] input
                nodes = feval([obj.GeometryMsgsPointClass '.empty'], 0, 1);
            end
            
            validateattributes(nodes, {obj.GeometryMsgsPointClass}, {'vector'}, 'GeometryGraph', 'Nodes');
            
            javaArray = obj.JavaMessage.getNodes;
            array = obj.writeJavaArray(nodes, javaArray, obj.GeometryMsgsPointClass);
            obj.JavaMessage.setNodes(array);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.Nodes)
                obj.Cache.Nodes = [];
                obj.Cache.Nodes = obj.Nodes;
            end
        end
        
        function edges = get.Edges(obj)
            %get.Edges Get the value for property Edges
            if isempty(obj.Cache.Edges)
                javaArray = obj.JavaMessage.getEdges;
                array = obj.readJavaArray(javaArray, obj.GraphMsgsEdgesClass);
                obj.Cache.Edges = feval(obj.GraphMsgsEdgesClass, array);
            end
            edges = obj.Cache.Edges;
        end
        
        function set.Edges(obj, edges)
            %set.Edges Set the value for property Edges
            if ~isvector(edges) && isempty(edges)
                % Allow empty [] input
                edges = feval([obj.GraphMsgsEdgesClass '.empty'], 0, 1);
            end
            
            validateattributes(edges, {obj.GraphMsgsEdgesClass}, {'vector'}, 'GeometryGraph', 'Edges');
            
            javaArray = obj.JavaMessage.getEdges;
            array = obj.writeJavaArray(edges, javaArray, obj.GraphMsgsEdgesClass);
            obj.JavaMessage.setEdges(array);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.Edges)
                obj.Cache.Edges = [];
                obj.Cache.Edges = obj.Edges;
            end
        end
    end
    
    methods (Access = protected)
        function resetCache(obj)
            %resetCache Resets any cached properties
            obj.Cache.Nodes = [];
            obj.Cache.Edges = [];
        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.Nodes = copy(obj.Nodes);
            cpObj.Edges = copy(obj.Edges);
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            NodesCell = arrayfun(@(x) feval([obj.GeometryMsgsPointClass '.loadobj'], x), strObj.Nodes, 'UniformOutput', false);
            obj.Nodes = vertcat(NodesCell{:});
            EdgesCell = arrayfun(@(x) feval([obj.GraphMsgsEdgesClass '.loadobj'], x), strObj.Edges, 'UniformOutput', false);
            obj.Edges = vertcat(EdgesCell{:});
        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.Nodes = arrayfun(@(x) saveobj(x), obj.Nodes);
            strObj.Edges = arrayfun(@(x) saveobj(x), obj.Edges);
        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.graph_msgs.GeometryGraph.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.graph_msgs.GeometryGraph;
            obj.reload(strObj);
        end
    end
end