www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+jsk_footstep_msgs/FootstepArray.m
classdef FootstepArray < robotics.ros.Message %FootstepArray MATLAB implementation of jsk_footstep_msgs/FootstepArray % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'jsk_footstep_msgs/FootstepArray' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '1b52b41da1aade33331eee694f61a052' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) JskFootstepMsgsFootstepClass = robotics.ros.msg.internal.MessageFactory.getClassForType('jsk_footstep_msgs/Footstep') % Dispatch to MATLAB class for message type jsk_footstep_msgs/Footstep StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header end properties (Dependent) Header Footsteps end properties (Access = protected) Cache = struct('Header', [], 'Footsteps', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Footsteps', 'Header'} % List of non-constant message properties ROSPropertyList = {'footsteps', 'header'} % List of non-constant ROS message properties end methods function obj = FootstepArray(msg) %FootstepArray Construct the message object FootstepArray 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'}, 'FootstepArray', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function footsteps = get.Footsteps(obj) %get.Footsteps Get the value for property Footsteps if isempty(obj.Cache.Footsteps) javaArray = obj.JavaMessage.getFootsteps; array = obj.readJavaArray(javaArray, obj.JskFootstepMsgsFootstepClass); obj.Cache.Footsteps = feval(obj.JskFootstepMsgsFootstepClass, array); end footsteps = obj.Cache.Footsteps; end function set.Footsteps(obj, footsteps) %set.Footsteps Set the value for property Footsteps if ~isvector(footsteps) && isempty(footsteps) % Allow empty [] input footsteps = feval([obj.JskFootstepMsgsFootstepClass '.empty'], 0, 1); end validateattributes(footsteps, {obj.JskFootstepMsgsFootstepClass}, {'vector'}, 'FootstepArray', 'Footsteps'); javaArray = obj.JavaMessage.getFootsteps; array = obj.writeJavaArray(footsteps, javaArray, obj.JskFootstepMsgsFootstepClass); obj.JavaMessage.setFootsteps(array); % Update cache if necessary if ~isempty(obj.Cache.Footsteps) obj.Cache.Footsteps = []; obj.Cache.Footsteps = obj.Footsteps; end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Header = []; obj.Cache.Footsteps = []; 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.Footsteps = copy(obj.Footsteps); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header); FootstepsCell = arrayfun(@(x) feval([obj.JskFootstepMsgsFootstepClass '.loadobj'], x), strObj.Footsteps, 'UniformOutput', false); obj.Footsteps = vertcat(FootstepsCell{:}); 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.Footsteps = arrayfun(@(x) saveobj(x), obj.Footsteps); 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.jsk_footstep_msgs.FootstepArray.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.jsk_footstep_msgs.FootstepArray; obj.reload(strObj); end end end