www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+moveit_msgs/PositionConstraint.m
classdef PositionConstraint < robotics.ros.Message %PositionConstraint MATLAB implementation of moveit_msgs/PositionConstraint % 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/PositionConstraint' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'c83edf208d87d3aa3169f47775a58e6a' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) GeometryMsgsVector3Class = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Vector3') % Dispatch to MATLAB class for message type geometry_msgs/Vector3 MoveitMsgsBoundingVolumeClass = robotics.ros.msg.internal.MessageFactory.getClassForType('moveit_msgs/BoundingVolume') % Dispatch to MATLAB class for message type moveit_msgs/BoundingVolume StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header end properties (Dependent) Header LinkName TargetPointOffset ConstraintRegion Weight end properties (Access = protected) Cache = struct('Header', [], 'TargetPointOffset', [], 'ConstraintRegion', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'ConstraintRegion', 'Header', 'LinkName', 'TargetPointOffset', 'Weight'} % List of non-constant message properties ROSPropertyList = {'constraint_region', 'header', 'link_name', 'target_point_offset', 'weight'} % List of non-constant ROS message properties end methods function obj = PositionConstraint(msg) %PositionConstraint Construct the message object PositionConstraint 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'}, 'PositionConstraint', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function linkname = get.LinkName(obj) %get.LinkName Get the value for property LinkName linkname = char(obj.JavaMessage.getLinkName); end function set.LinkName(obj, linkname) %set.LinkName Set the value for property LinkName validateattributes(linkname, {'char'}, {}, 'PositionConstraint', 'LinkName'); obj.JavaMessage.setLinkName(linkname); end function targetpointoffset = get.TargetPointOffset(obj) %get.TargetPointOffset Get the value for property TargetPointOffset if isempty(obj.Cache.TargetPointOffset) obj.Cache.TargetPointOffset = feval(obj.GeometryMsgsVector3Class, obj.JavaMessage.getTargetPointOffset); end targetpointoffset = obj.Cache.TargetPointOffset; end function set.TargetPointOffset(obj, targetpointoffset) %set.TargetPointOffset Set the value for property TargetPointOffset validateattributes(targetpointoffset, {obj.GeometryMsgsVector3Class}, {'nonempty', 'scalar'}, 'PositionConstraint', 'TargetPointOffset'); obj.JavaMessage.setTargetPointOffset(targetpointoffset.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.TargetPointOffset) obj.Cache.TargetPointOffset.setJavaObject(targetpointoffset.getJavaObject); end end function constraintregion = get.ConstraintRegion(obj) %get.ConstraintRegion Get the value for property ConstraintRegion if isempty(obj.Cache.ConstraintRegion) obj.Cache.ConstraintRegion = feval(obj.MoveitMsgsBoundingVolumeClass, obj.JavaMessage.getConstraintRegion); end constraintregion = obj.Cache.ConstraintRegion; end function set.ConstraintRegion(obj, constraintregion) %set.ConstraintRegion Set the value for property ConstraintRegion validateattributes(constraintregion, {obj.MoveitMsgsBoundingVolumeClass}, {'nonempty', 'scalar'}, 'PositionConstraint', 'ConstraintRegion'); obj.JavaMessage.setConstraintRegion(constraintregion.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.ConstraintRegion) obj.Cache.ConstraintRegion.setJavaObject(constraintregion.getJavaObject); end end function weight = get.Weight(obj) %get.Weight Get the value for property Weight weight = double(obj.JavaMessage.getWeight); end function set.Weight(obj, weight) %set.Weight Set the value for property Weight validateattributes(weight, {'numeric'}, {'nonempty', 'scalar'}, 'PositionConstraint', 'Weight'); obj.JavaMessage.setWeight(weight); end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Header = []; obj.Cache.TargetPointOffset = []; obj.Cache.ConstraintRegion = []; 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.LinkName = obj.LinkName; cpObj.Weight = obj.Weight; % Recursively copy compound properties cpObj.Header = copy(obj.Header); cpObj.TargetPointOffset = copy(obj.TargetPointOffset); cpObj.ConstraintRegion = copy(obj.ConstraintRegion); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.LinkName = strObj.LinkName; obj.Weight = strObj.Weight; obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header); obj.TargetPointOffset = feval([obj.GeometryMsgsVector3Class '.loadobj'], strObj.TargetPointOffset); obj.ConstraintRegion = feval([obj.MoveitMsgsBoundingVolumeClass '.loadobj'], strObj.ConstraintRegion); 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.LinkName = obj.LinkName; strObj.Weight = obj.Weight; strObj.Header = saveobj(obj.Header); strObj.TargetPointOffset = saveobj(obj.TargetPointOffset); strObj.ConstraintRegion = saveobj(obj.ConstraintRegion); 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.PositionConstraint.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.moveit_msgs.PositionConstraint; obj.reload(strObj); end end end