www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+moveit_msgs/MoveItErrorCodes.m
classdef MoveItErrorCodes < robotics.ros.Message %MoveItErrorCodes MATLAB implementation of moveit_msgs/MoveItErrorCodes % 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/MoveItErrorCodes' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'aa336b18d80531f66439810112c0a43e' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant) SUCCESS = int32(1) FAILURE = int32(99999) PLANNINGFAILED = int32(-1) INVALIDMOTIONPLAN = int32(-2) MOTIONPLANINVALIDATEDBYENVIRONMENTCHANGE = int32(-3) CONTROLFAILED = int32(-4) UNABLETOAQUIRESENSORDATA = int32(-5) TIMEDOUT = int32(-6) PREEMPTED = int32(-7) STARTSTATEINCOLLISION = int32(-10) STARTSTATEVIOLATESPATHCONSTRAINTS = int32(-11) GOALINCOLLISION = int32(-12) GOALVIOLATESPATHCONSTRAINTS = int32(-13) GOALCONSTRAINTSVIOLATED = int32(-14) INVALIDGROUPNAME = int32(-15) INVALIDGOALCONSTRAINTS = int32(-16) INVALIDROBOTSTATE = int32(-17) INVALIDLINKNAME = int32(-18) INVALIDOBJECTNAME = int32(-19) FRAMETRANSFORMFAILURE = int32(-21) COLLISIONCHECKINGUNAVAILABLE = int32(-22) ROBOTSTATESTALE = int32(-23) SENSORINFOSTALE = int32(-24) NOIKSOLUTION = int32(-31) end properties (Dependent) Val end properties (Constant, Hidden) PropertyList = {'Val'} % List of non-constant message properties ROSPropertyList = {'val'} % List of non-constant ROS message properties end methods function obj = MoveItErrorCodes(msg) %MoveItErrorCodes Construct the message object MoveItErrorCodes 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 val = get.Val(obj) %get.Val Get the value for property Val val = int32(obj.JavaMessage.getVal); end function set.Val(obj, val) %set.Val Set the value for property Val validateattributes(val, {'numeric'}, {'nonempty', 'scalar'}, 'MoveItErrorCodes', 'Val'); obj.JavaMessage.setVal(val); end end methods (Access = protected) function cpObj = copyElement(obj) %copyElement Implements deep copy behavior for message % Call default copy method for shallow copy cpObj = copyElement@robotics.ros.Message(obj); % Create a new Java message object cpObj.JavaMessage = obj.createNewJavaMessage; % Iterate over all primitive properties cpObj.Val = obj.Val; end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Val = strObj.Val; 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.Val = obj.Val; 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.MoveItErrorCodes.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.moveit_msgs.MoveItErrorCodes; obj.reload(strObj); end end end