www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+moveit_simple_grasps/GenerateGraspsFeedback.m
classdef GenerateGraspsFeedback < robotics.ros.Message %GenerateGraspsFeedback MATLAB implementation of moveit_simple_grasps/GenerateGraspsFeedback % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'moveit_simple_grasps/GenerateGraspsFeedback' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '8c4083a4efa926cd066c287f905843a3' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) MoveitMsgsGraspClass = robotics.ros.msg.internal.MessageFactory.getClassForType('moveit_msgs/Grasp') % Dispatch to MATLAB class for message type moveit_msgs/Grasp end properties (Dependent) Grasps end properties (Access = protected) Cache = struct('Grasps', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Grasps'} % List of non-constant message properties ROSPropertyList = {'grasps'} % List of non-constant ROS message properties end methods function obj = GenerateGraspsFeedback(msg) %GenerateGraspsFeedback Construct the message object GenerateGraspsFeedback 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 grasps = get.Grasps(obj) %get.Grasps Get the value for property Grasps if isempty(obj.Cache.Grasps) javaArray = obj.JavaMessage.getGrasps; array = obj.readJavaArray(javaArray, obj.MoveitMsgsGraspClass); obj.Cache.Grasps = feval(obj.MoveitMsgsGraspClass, array); end grasps = obj.Cache.Grasps; end function set.Grasps(obj, grasps) %set.Grasps Set the value for property Grasps if ~isvector(grasps) && isempty(grasps) % Allow empty [] input grasps = feval([obj.MoveitMsgsGraspClass '.empty'], 0, 1); end validateattributes(grasps, {obj.MoveitMsgsGraspClass}, {'vector'}, 'GenerateGraspsFeedback', 'Grasps'); javaArray = obj.JavaMessage.getGrasps; array = obj.writeJavaArray(grasps, javaArray, obj.MoveitMsgsGraspClass); obj.JavaMessage.setGrasps(array); % Update cache if necessary if ~isempty(obj.Cache.Grasps) obj.Cache.Grasps = []; obj.Cache.Grasps = obj.Grasps; end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Grasps = []; 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.Grasps = copy(obj.Grasps); end function reload(obj, strObj) %reload Called by loadobj to assign properties GraspsCell = arrayfun(@(x) feval([obj.MoveitMsgsGraspClass '.loadobj'], x), strObj.Grasps, 'UniformOutput', false); obj.Grasps = vertcat(GraspsCell{:}); 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.Grasps = arrayfun(@(x) saveobj(x), obj.Grasps); 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_simple_grasps.GenerateGraspsFeedback.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.moveit_simple_grasps.GenerateGraspsFeedback; obj.reload(strObj); end end end