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