www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+jsk_perception/Circle2D.m
classdef Circle2D < robotics.ros.Message %Circle2D MATLAB implementation of jsk_perception/Circle2D % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'jsk_perception/Circle2D' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '2337fe90a715387bfdc3cf4b7fa2391e' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header end properties (Dependent) Header Radius X Y end properties (Access = protected) Cache = struct('Header', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Header', 'Radius', 'X', 'Y'} % List of non-constant message properties ROSPropertyList = {'header', 'radius', 'x', 'y'} % List of non-constant ROS message properties end methods function obj = Circle2D(msg) %Circle2D Construct the message object Circle2D 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'}, 'Circle2D', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function radius = get.Radius(obj) %get.Radius Get the value for property Radius radius = double(obj.JavaMessage.getRadius); end function set.Radius(obj, radius) %set.Radius Set the value for property Radius validateattributes(radius, {'numeric'}, {'nonempty', 'scalar'}, 'Circle2D', 'Radius'); obj.JavaMessage.setRadius(radius); end function x = get.X(obj) %get.X Get the value for property X x = double(obj.JavaMessage.getX); end function set.X(obj, x) %set.X Set the value for property X validateattributes(x, {'numeric'}, {'nonempty', 'scalar'}, 'Circle2D', 'X'); obj.JavaMessage.setX(x); end function y = get.Y(obj) %get.Y Get the value for property Y y = double(obj.JavaMessage.getY); end function set.Y(obj, y) %set.Y Set the value for property Y validateattributes(y, {'numeric'}, {'nonempty', 'scalar'}, 'Circle2D', 'Y'); obj.JavaMessage.setY(y); end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Header = []; 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.Radius = obj.Radius; cpObj.X = obj.X; cpObj.Y = obj.Y; % Recursively copy compound properties cpObj.Header = copy(obj.Header); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Radius = strObj.Radius; obj.X = strObj.X; obj.Y = strObj.Y; obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header); 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.Radius = obj.Radius; strObj.X = obj.X; strObj.Y = obj.Y; strObj.Header = saveobj(obj.Header); 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_perception.Circle2D.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.jsk_perception.Circle2D; obj.reload(strObj); end end end