www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+moveit_msgs/GetPositionIKRequest.m
classdef GetPositionIKRequest < robotics.ros.Message %GetPositionIKRequest MATLAB implementation of moveit_msgs/GetPositionIKRequest % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'moveit_msgs/GetPositionIKRequest' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'a67dc7e99d15c1dca32a77c22bc2d93b' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) MoveitMsgsPositionIKRequestClass = robotics.ros.msg.internal.MessageFactory.getClassForType('moveit_msgs/PositionIKRequest') % Dispatch to MATLAB class for message type moveit_msgs/PositionIKRequest end properties (Dependent) IkRequest end properties (Access = protected) Cache = struct('IkRequest', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'IkRequest'} % List of non-constant message properties ROSPropertyList = {'ik_request'} % List of non-constant ROS message properties end methods function obj = GetPositionIKRequest(msg) %GetPositionIKRequest Construct the message object GetPositionIKRequest 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 ikrequest = get.IkRequest(obj) %get.IkRequest Get the value for property IkRequest if isempty(obj.Cache.IkRequest) obj.Cache.IkRequest = feval(obj.MoveitMsgsPositionIKRequestClass, obj.JavaMessage.getIkRequest); end ikrequest = obj.Cache.IkRequest; end function set.IkRequest(obj, ikrequest) %set.IkRequest Set the value for property IkRequest validateattributes(ikrequest, {obj.MoveitMsgsPositionIKRequestClass}, {'nonempty', 'scalar'}, 'GetPositionIKRequest', 'IkRequest'); obj.JavaMessage.setIkRequest(ikrequest.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.IkRequest) obj.Cache.IkRequest.setJavaObject(ikrequest.getJavaObject); end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.IkRequest = []; 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.IkRequest = copy(obj.IkRequest); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.IkRequest = feval([obj.MoveitMsgsPositionIKRequestClass '.loadobj'], strObj.IkRequest); 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.IkRequest = saveobj(obj.IkRequest); 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.moveit_msgs.GetPositionIKRequest.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.moveit_msgs.GetPositionIKRequest; obj.reload(strObj); end end end