www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+hrpsys_gazebo_msgs/NamedWrench.m
classdef NamedWrench < robotics.ros.Message %NamedWrench MATLAB implementation of hrpsys_gazebo_msgs/NamedWrench % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'hrpsys_gazebo_msgs/NamedWrench' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '5d4ac116ab4286bc5cf754c9a0493f4a' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) GeometryMsgsVector3Class = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Vector3') % Dispatch to MATLAB class for message type geometry_msgs/Vector3 end properties (Dependent) Name FrameId Force Torque end properties (Access = protected) Cache = struct('Force', [], 'Torque', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Force', 'FrameId', 'Name', 'Torque'} % List of non-constant message properties ROSPropertyList = {'force', 'frame_id', 'name', 'torque'} % List of non-constant ROS message properties end methods function obj = NamedWrench(msg) %NamedWrench Construct the message object NamedWrench 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 name = get.Name(obj) %get.Name Get the value for property Name name = char(obj.JavaMessage.getName); end function set.Name(obj, name) %set.Name Set the value for property Name validateattributes(name, {'char'}, {}, 'NamedWrench', 'Name'); obj.JavaMessage.setName(name); end function frameid = get.FrameId(obj) %get.FrameId Get the value for property FrameId frameid = char(obj.JavaMessage.getFrameId); end function set.FrameId(obj, frameid) %set.FrameId Set the value for property FrameId validateattributes(frameid, {'char'}, {}, 'NamedWrench', 'FrameId'); obj.JavaMessage.setFrameId(frameid); end function force = get.Force(obj) %get.Force Get the value for property Force if isempty(obj.Cache.Force) obj.Cache.Force = feval(obj.GeometryMsgsVector3Class, obj.JavaMessage.getForce); end force = obj.Cache.Force; end function set.Force(obj, force) %set.Force Set the value for property Force validateattributes(force, {obj.GeometryMsgsVector3Class}, {'nonempty', 'scalar'}, 'NamedWrench', 'Force'); obj.JavaMessage.setForce(force.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Force) obj.Cache.Force.setJavaObject(force.getJavaObject); end end function torque = get.Torque(obj) %get.Torque Get the value for property Torque if isempty(obj.Cache.Torque) obj.Cache.Torque = feval(obj.GeometryMsgsVector3Class, obj.JavaMessage.getTorque); end torque = obj.Cache.Torque; end function set.Torque(obj, torque) %set.Torque Set the value for property Torque validateattributes(torque, {obj.GeometryMsgsVector3Class}, {'nonempty', 'scalar'}, 'NamedWrench', 'Torque'); obj.JavaMessage.setTorque(torque.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Torque) obj.Cache.Torque.setJavaObject(torque.getJavaObject); end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Force = []; obj.Cache.Torque = []; 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.Name = obj.Name; cpObj.FrameId = obj.FrameId; % Recursively copy compound properties cpObj.Force = copy(obj.Force); cpObj.Torque = copy(obj.Torque); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Name = strObj.Name; obj.FrameId = strObj.FrameId; obj.Force = feval([obj.GeometryMsgsVector3Class '.loadobj'], strObj.Force); obj.Torque = feval([obj.GeometryMsgsVector3Class '.loadobj'], strObj.Torque); 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.Name = obj.Name; strObj.FrameId = obj.FrameId; strObj.Force = saveobj(obj.Force); strObj.Torque = saveobj(obj.Torque); 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.hrpsys_gazebo_msgs.NamedWrench.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.hrpsys_gazebo_msgs.NamedWrench; obj.reload(strObj); end end end