www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+moveit_msgs/MotionPlanRequest.m

    classdef MotionPlanRequest < robotics.ros.Message
    %MotionPlanRequest MATLAB implementation of moveit_msgs/MotionPlanRequest
    %   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/MotionPlanRequest' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = '7cd790e04c3a55f6742ec387a72a02d6' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Constant, Access = protected)
        MoveitMsgsConstraintsClass = robotics.ros.msg.internal.MessageFactory.getClassForType('moveit_msgs/Constraints') % Dispatch to MATLAB class for message type moveit_msgs/Constraints
        MoveitMsgsRobotStateClass = robotics.ros.msg.internal.MessageFactory.getClassForType('moveit_msgs/RobotState') % Dispatch to MATLAB class for message type moveit_msgs/RobotState
        MoveitMsgsTrajectoryConstraintsClass = robotics.ros.msg.internal.MessageFactory.getClassForType('moveit_msgs/TrajectoryConstraints') % Dispatch to MATLAB class for message type moveit_msgs/TrajectoryConstraints
        MoveitMsgsWorkspaceParametersClass = robotics.ros.msg.internal.MessageFactory.getClassForType('moveit_msgs/WorkspaceParameters') % Dispatch to MATLAB class for message type moveit_msgs/WorkspaceParameters
    end
    
    properties (Dependent)
        WorkspaceParameters
        StartState
        PathConstraints
        TrajectoryConstraints
        PlannerId
        GroupName
        NumPlanningAttempts
        AllowedPlanningTime
        GoalConstraints
    end
    
    properties (Access = protected)
        Cache = struct('WorkspaceParameters', [], 'StartState', [], 'GoalConstraints', [], 'PathConstraints', [], 'TrajectoryConstraints', []) % The cache for fast data access
    end
    
    properties (Constant, Hidden)
        PropertyList = {'AllowedPlanningTime', 'GoalConstraints', 'GroupName', 'NumPlanningAttempts', 'PathConstraints', 'PlannerId', 'StartState', 'TrajectoryConstraints', 'WorkspaceParameters'} % List of non-constant message properties
        ROSPropertyList = {'allowed_planning_time', 'goal_constraints', 'group_name', 'num_planning_attempts', 'path_constraints', 'planner_id', 'start_state', 'trajectory_constraints', 'workspace_parameters'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = MotionPlanRequest(msg)
            %MotionPlanRequest Construct the message object MotionPlanRequest
            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 workspaceparameters = get.WorkspaceParameters(obj)
            %get.WorkspaceParameters Get the value for property WorkspaceParameters
            if isempty(obj.Cache.WorkspaceParameters)
                obj.Cache.WorkspaceParameters = feval(obj.MoveitMsgsWorkspaceParametersClass, obj.JavaMessage.getWorkspaceParameters);
            end
            workspaceparameters = obj.Cache.WorkspaceParameters;
        end
        
        function set.WorkspaceParameters(obj, workspaceparameters)
            %set.WorkspaceParameters Set the value for property WorkspaceParameters
            validateattributes(workspaceparameters, {obj.MoveitMsgsWorkspaceParametersClass}, {'nonempty', 'scalar'}, 'MotionPlanRequest', 'WorkspaceParameters');
            
            obj.JavaMessage.setWorkspaceParameters(workspaceparameters.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.WorkspaceParameters)
                obj.Cache.WorkspaceParameters.setJavaObject(workspaceparameters.getJavaObject);
            end
        end
        
        function startstate = get.StartState(obj)
            %get.StartState Get the value for property StartState
            if isempty(obj.Cache.StartState)
                obj.Cache.StartState = feval(obj.MoveitMsgsRobotStateClass, obj.JavaMessage.getStartState);
            end
            startstate = obj.Cache.StartState;
        end
        
        function set.StartState(obj, startstate)
            %set.StartState Set the value for property StartState
            validateattributes(startstate, {obj.MoveitMsgsRobotStateClass}, {'nonempty', 'scalar'}, 'MotionPlanRequest', 'StartState');
            
            obj.JavaMessage.setStartState(startstate.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.StartState)
                obj.Cache.StartState.setJavaObject(startstate.getJavaObject);
            end
        end
        
        function pathconstraints = get.PathConstraints(obj)
            %get.PathConstraints Get the value for property PathConstraints
            if isempty(obj.Cache.PathConstraints)
                obj.Cache.PathConstraints = feval(obj.MoveitMsgsConstraintsClass, obj.JavaMessage.getPathConstraints);
            end
            pathconstraints = obj.Cache.PathConstraints;
        end
        
        function set.PathConstraints(obj, pathconstraints)
            %set.PathConstraints Set the value for property PathConstraints
            validateattributes(pathconstraints, {obj.MoveitMsgsConstraintsClass}, {'nonempty', 'scalar'}, 'MotionPlanRequest', 'PathConstraints');
            
            obj.JavaMessage.setPathConstraints(pathconstraints.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.PathConstraints)
                obj.Cache.PathConstraints.setJavaObject(pathconstraints.getJavaObject);
            end
        end
        
        function trajectoryconstraints = get.TrajectoryConstraints(obj)
            %get.TrajectoryConstraints Get the value for property TrajectoryConstraints
            if isempty(obj.Cache.TrajectoryConstraints)
                obj.Cache.TrajectoryConstraints = feval(obj.MoveitMsgsTrajectoryConstraintsClass, obj.JavaMessage.getTrajectoryConstraints);
            end
            trajectoryconstraints = obj.Cache.TrajectoryConstraints;
        end
        
        function set.TrajectoryConstraints(obj, trajectoryconstraints)
            %set.TrajectoryConstraints Set the value for property TrajectoryConstraints
            validateattributes(trajectoryconstraints, {obj.MoveitMsgsTrajectoryConstraintsClass}, {'nonempty', 'scalar'}, 'MotionPlanRequest', 'TrajectoryConstraints');
            
            obj.JavaMessage.setTrajectoryConstraints(trajectoryconstraints.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.TrajectoryConstraints)
                obj.Cache.TrajectoryConstraints.setJavaObject(trajectoryconstraints.getJavaObject);
            end
        end
        
        function plannerid = get.PlannerId(obj)
            %get.PlannerId Get the value for property PlannerId
            plannerid = char(obj.JavaMessage.getPlannerId);
        end
        
        function set.PlannerId(obj, plannerid)
            %set.PlannerId Set the value for property PlannerId
            validateattributes(plannerid, {'char'}, {}, 'MotionPlanRequest', 'PlannerId');
            
            obj.JavaMessage.setPlannerId(plannerid);
        end
        
        function groupname = get.GroupName(obj)
            %get.GroupName Get the value for property GroupName
            groupname = char(obj.JavaMessage.getGroupName);
        end
        
        function set.GroupName(obj, groupname)
            %set.GroupName Set the value for property GroupName
            validateattributes(groupname, {'char'}, {}, 'MotionPlanRequest', 'GroupName');
            
            obj.JavaMessage.setGroupName(groupname);
        end
        
        function numplanningattempts = get.NumPlanningAttempts(obj)
            %get.NumPlanningAttempts Get the value for property NumPlanningAttempts
            numplanningattempts = int32(obj.JavaMessage.getNumPlanningAttempts);
        end
        
        function set.NumPlanningAttempts(obj, numplanningattempts)
            %set.NumPlanningAttempts Set the value for property NumPlanningAttempts
            validateattributes(numplanningattempts, {'numeric'}, {'nonempty', 'scalar'}, 'MotionPlanRequest', 'NumPlanningAttempts');
            
            obj.JavaMessage.setNumPlanningAttempts(numplanningattempts);
        end
        
        function allowedplanningtime = get.AllowedPlanningTime(obj)
            %get.AllowedPlanningTime Get the value for property AllowedPlanningTime
            allowedplanningtime = double(obj.JavaMessage.getAllowedPlanningTime);
        end
        
        function set.AllowedPlanningTime(obj, allowedplanningtime)
            %set.AllowedPlanningTime Set the value for property AllowedPlanningTime
            validateattributes(allowedplanningtime, {'numeric'}, {'nonempty', 'scalar'}, 'MotionPlanRequest', 'AllowedPlanningTime');
            
            obj.JavaMessage.setAllowedPlanningTime(allowedplanningtime);
        end
        
        function goalconstraints = get.GoalConstraints(obj)
            %get.GoalConstraints Get the value for property GoalConstraints
            if isempty(obj.Cache.GoalConstraints)
                javaArray = obj.JavaMessage.getGoalConstraints;
                array = obj.readJavaArray(javaArray, obj.MoveitMsgsConstraintsClass);
                obj.Cache.GoalConstraints = feval(obj.MoveitMsgsConstraintsClass, array);
            end
            goalconstraints = obj.Cache.GoalConstraints;
        end
        
        function set.GoalConstraints(obj, goalconstraints)
            %set.GoalConstraints Set the value for property GoalConstraints
            if ~isvector(goalconstraints) && isempty(goalconstraints)
                % Allow empty [] input
                goalconstraints = feval([obj.MoveitMsgsConstraintsClass '.empty'], 0, 1);
            end
            
            validateattributes(goalconstraints, {obj.MoveitMsgsConstraintsClass}, {'vector'}, 'MotionPlanRequest', 'GoalConstraints');
            
            javaArray = obj.JavaMessage.getGoalConstraints;
            array = obj.writeJavaArray(goalconstraints, javaArray, obj.MoveitMsgsConstraintsClass);
            obj.JavaMessage.setGoalConstraints(array);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.GoalConstraints)
                obj.Cache.GoalConstraints = [];
                obj.Cache.GoalConstraints = obj.GoalConstraints;
            end
        end
    end
    
    methods (Access = protected)
        function resetCache(obj)
            %resetCache Resets any cached properties
            obj.Cache.WorkspaceParameters = [];
            obj.Cache.StartState = [];
            obj.Cache.GoalConstraints = [];
            obj.Cache.PathConstraints = [];
            obj.Cache.TrajectoryConstraints = [];
        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.PlannerId = obj.PlannerId;
            cpObj.GroupName = obj.GroupName;
            cpObj.NumPlanningAttempts = obj.NumPlanningAttempts;
            cpObj.AllowedPlanningTime = obj.AllowedPlanningTime;
            
            % Recursively copy compound properties
            cpObj.WorkspaceParameters = copy(obj.WorkspaceParameters);
            cpObj.StartState = copy(obj.StartState);
            cpObj.PathConstraints = copy(obj.PathConstraints);
            cpObj.TrajectoryConstraints = copy(obj.TrajectoryConstraints);
            cpObj.GoalConstraints = copy(obj.GoalConstraints);
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.PlannerId = strObj.PlannerId;
            obj.GroupName = strObj.GroupName;
            obj.NumPlanningAttempts = strObj.NumPlanningAttempts;
            obj.AllowedPlanningTime = strObj.AllowedPlanningTime;
            obj.WorkspaceParameters = feval([obj.MoveitMsgsWorkspaceParametersClass '.loadobj'], strObj.WorkspaceParameters);
            obj.StartState = feval([obj.MoveitMsgsRobotStateClass '.loadobj'], strObj.StartState);
            obj.PathConstraints = feval([obj.MoveitMsgsConstraintsClass '.loadobj'], strObj.PathConstraints);
            obj.TrajectoryConstraints = feval([obj.MoveitMsgsTrajectoryConstraintsClass '.loadobj'], strObj.TrajectoryConstraints);
            GoalConstraintsCell = arrayfun(@(x) feval([obj.MoveitMsgsConstraintsClass '.loadobj'], x), strObj.GoalConstraints, 'UniformOutput', false);
            obj.GoalConstraints = vertcat(GoalConstraintsCell{:});
        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.PlannerId = obj.PlannerId;
            strObj.GroupName = obj.GroupName;
            strObj.NumPlanningAttempts = obj.NumPlanningAttempts;
            strObj.AllowedPlanningTime = obj.AllowedPlanningTime;
            strObj.WorkspaceParameters = saveobj(obj.WorkspaceParameters);
            strObj.StartState = saveobj(obj.StartState);
            strObj.PathConstraints = saveobj(obj.PathConstraints);
            strObj.TrajectoryConstraints = saveobj(obj.TrajectoryConstraints);
            strObj.GoalConstraints = arrayfun(@(x) saveobj(x), obj.GoalConstraints);
        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.MotionPlanRequest.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.moveit_msgs.MotionPlanRequest;
            obj.reload(strObj);
        end
    end
end