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