www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+moveit_msgs/PlanningOptions.m
classdef PlanningOptions < robotics.ros.Message %PlanningOptions MATLAB implementation of moveit_msgs/PlanningOptions % 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/PlanningOptions' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '3934e50ede2ecea03e532aade900ab50' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) MoveitMsgsPlanningSceneClass = robotics.ros.msg.internal.MessageFactory.getClassForType('moveit_msgs/PlanningScene') % Dispatch to MATLAB class for message type moveit_msgs/PlanningScene end properties (Dependent) PlanningSceneDiff PlanOnly LookAround LookAroundAttempts MaxSafeExecutionCost Replan ReplanAttempts ReplanDelay end properties (Access = protected) Cache = struct('PlanningSceneDiff', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'LookAround', 'LookAroundAttempts', 'MaxSafeExecutionCost', 'PlanOnly', 'PlanningSceneDiff', 'Replan', 'ReplanAttempts', 'ReplanDelay'} % List of non-constant message properties ROSPropertyList = {'look_around', 'look_around_attempts', 'max_safe_execution_cost', 'plan_only', 'planning_scene_diff', 'replan', 'replan_attempts', 'replan_delay'} % List of non-constant ROS message properties end methods function obj = PlanningOptions(msg) %PlanningOptions Construct the message object PlanningOptions 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 planningscenediff = get.PlanningSceneDiff(obj) %get.PlanningSceneDiff Get the value for property PlanningSceneDiff if isempty(obj.Cache.PlanningSceneDiff) obj.Cache.PlanningSceneDiff = feval(obj.MoveitMsgsPlanningSceneClass, obj.JavaMessage.getPlanningSceneDiff); end planningscenediff = obj.Cache.PlanningSceneDiff; end function set.PlanningSceneDiff(obj, planningscenediff) %set.PlanningSceneDiff Set the value for property PlanningSceneDiff validateattributes(planningscenediff, {obj.MoveitMsgsPlanningSceneClass}, {'nonempty', 'scalar'}, 'PlanningOptions', 'PlanningSceneDiff'); obj.JavaMessage.setPlanningSceneDiff(planningscenediff.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.PlanningSceneDiff) obj.Cache.PlanningSceneDiff.setJavaObject(planningscenediff.getJavaObject); end end function planonly = get.PlanOnly(obj) %get.PlanOnly Get the value for property PlanOnly planonly = logical(obj.JavaMessage.getPlanOnly); end function set.PlanOnly(obj, planonly) %set.PlanOnly Set the value for property PlanOnly validateattributes(planonly, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'PlanningOptions', 'PlanOnly'); obj.JavaMessage.setPlanOnly(planonly); end function lookaround = get.LookAround(obj) %get.LookAround Get the value for property LookAround lookaround = logical(obj.JavaMessage.getLookAround); end function set.LookAround(obj, lookaround) %set.LookAround Set the value for property LookAround validateattributes(lookaround, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'PlanningOptions', 'LookAround'); obj.JavaMessage.setLookAround(lookaround); end function lookaroundattempts = get.LookAroundAttempts(obj) %get.LookAroundAttempts Get the value for property LookAroundAttempts lookaroundattempts = int32(obj.JavaMessage.getLookAroundAttempts); end function set.LookAroundAttempts(obj, lookaroundattempts) %set.LookAroundAttempts Set the value for property LookAroundAttempts validateattributes(lookaroundattempts, {'numeric'}, {'nonempty', 'scalar'}, 'PlanningOptions', 'LookAroundAttempts'); obj.JavaMessage.setLookAroundAttempts(lookaroundattempts); end function maxsafeexecutioncost = get.MaxSafeExecutionCost(obj) %get.MaxSafeExecutionCost Get the value for property MaxSafeExecutionCost maxsafeexecutioncost = double(obj.JavaMessage.getMaxSafeExecutionCost); end function set.MaxSafeExecutionCost(obj, maxsafeexecutioncost) %set.MaxSafeExecutionCost Set the value for property MaxSafeExecutionCost validateattributes(maxsafeexecutioncost, {'numeric'}, {'nonempty', 'scalar'}, 'PlanningOptions', 'MaxSafeExecutionCost'); obj.JavaMessage.setMaxSafeExecutionCost(maxsafeexecutioncost); end function replan = get.Replan(obj) %get.Replan Get the value for property Replan replan = logical(obj.JavaMessage.getReplan); end function set.Replan(obj, replan) %set.Replan Set the value for property Replan validateattributes(replan, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'PlanningOptions', 'Replan'); obj.JavaMessage.setReplan(replan); end function replanattempts = get.ReplanAttempts(obj) %get.ReplanAttempts Get the value for property ReplanAttempts replanattempts = int32(obj.JavaMessage.getReplanAttempts); end function set.ReplanAttempts(obj, replanattempts) %set.ReplanAttempts Set the value for property ReplanAttempts validateattributes(replanattempts, {'numeric'}, {'nonempty', 'scalar'}, 'PlanningOptions', 'ReplanAttempts'); obj.JavaMessage.setReplanAttempts(replanattempts); end function replandelay = get.ReplanDelay(obj) %get.ReplanDelay Get the value for property ReplanDelay replandelay = double(obj.JavaMessage.getReplanDelay); end function set.ReplanDelay(obj, replandelay) %set.ReplanDelay Set the value for property ReplanDelay validateattributes(replandelay, {'numeric'}, {'nonempty', 'scalar'}, 'PlanningOptions', 'ReplanDelay'); obj.JavaMessage.setReplanDelay(replandelay); end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.PlanningSceneDiff = []; 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.PlanOnly = obj.PlanOnly; cpObj.LookAround = obj.LookAround; cpObj.LookAroundAttempts = obj.LookAroundAttempts; cpObj.MaxSafeExecutionCost = obj.MaxSafeExecutionCost; cpObj.Replan = obj.Replan; cpObj.ReplanAttempts = obj.ReplanAttempts; cpObj.ReplanDelay = obj.ReplanDelay; % Recursively copy compound properties cpObj.PlanningSceneDiff = copy(obj.PlanningSceneDiff); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.PlanOnly = strObj.PlanOnly; obj.LookAround = strObj.LookAround; obj.LookAroundAttempts = strObj.LookAroundAttempts; obj.MaxSafeExecutionCost = strObj.MaxSafeExecutionCost; obj.Replan = strObj.Replan; obj.ReplanAttempts = strObj.ReplanAttempts; obj.ReplanDelay = strObj.ReplanDelay; obj.PlanningSceneDiff = feval([obj.MoveitMsgsPlanningSceneClass '.loadobj'], strObj.PlanningSceneDiff); 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.PlanOnly = obj.PlanOnly; strObj.LookAround = obj.LookAround; strObj.LookAroundAttempts = obj.LookAroundAttempts; strObj.MaxSafeExecutionCost = obj.MaxSafeExecutionCost; strObj.Replan = obj.Replan; strObj.ReplanAttempts = obj.ReplanAttempts; strObj.ReplanDelay = obj.ReplanDelay; strObj.PlanningSceneDiff = saveobj(obj.PlanningSceneDiff); 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.PlanningOptions.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.moveit_msgs.PlanningOptions; obj.reload(strObj); end end end