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

    classdef LandmarkDetected < robotics.ros.Message
    %LandmarkDetected MATLAB implementation of nao_interaction_msgs/LandmarkDetected
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'nao_interaction_msgs/LandmarkDetected' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = '4d97e85c0a306501da5d22b795cdac76' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Constant, Access = protected)
        GeometryMsgsPoseClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Pose') % Dispatch to MATLAB class for message type geometry_msgs/Pose
        StdMsgsFloat32Class = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Float32') % Dispatch to MATLAB class for message type std_msgs/Float32
        StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header
        StdMsgsInt32Class = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Int32') % Dispatch to MATLAB class for message type std_msgs/Int32
        StdMsgsStringClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/String') % Dispatch to MATLAB class for message type std_msgs/String
    end
    
    properties (Dependent)
        Header
        CameraLocalPose
        CameraWorldPose
        CameraName
        MarkIds
        ShapeAlpha
        ShapeBeta
        ShapeSizex
        ShapeSizey
    end
    
    properties (Access = protected)
        Cache = struct('Header', [], 'MarkIds', [], 'ShapeAlpha', [], 'ShapeBeta', [], 'ShapeSizex', [], 'ShapeSizey', [], 'CameraLocalPose', [], 'CameraWorldPose', [], 'CameraName', []) % The cache for fast data access
    end
    
    properties (Constant, Hidden)
        PropertyList = {'CameraLocalPose', 'CameraName', 'CameraWorldPose', 'Header', 'MarkIds', 'ShapeAlpha', 'ShapeBeta', 'ShapeSizex', 'ShapeSizey'} % List of non-constant message properties
        ROSPropertyList = {'camera_local_pose', 'camera_name', 'camera_world_pose', 'header', 'mark_ids', 'shape_alpha', 'shape_beta', 'shape_sizex', 'shape_sizey'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = LandmarkDetected(msg)
            %LandmarkDetected Construct the message object LandmarkDetected
            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'}, 'LandmarkDetected', 'Header');
            
            obj.JavaMessage.setHeader(header.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.Header)
                obj.Cache.Header.setJavaObject(header.getJavaObject);
            end
        end
        
        function cameralocalpose = get.CameraLocalPose(obj)
            %get.CameraLocalPose Get the value for property CameraLocalPose
            if isempty(obj.Cache.CameraLocalPose)
                obj.Cache.CameraLocalPose = feval(obj.GeometryMsgsPoseClass, obj.JavaMessage.getCameraLocalPose);
            end
            cameralocalpose = obj.Cache.CameraLocalPose;
        end
        
        function set.CameraLocalPose(obj, cameralocalpose)
            %set.CameraLocalPose Set the value for property CameraLocalPose
            validateattributes(cameralocalpose, {obj.GeometryMsgsPoseClass}, {'nonempty', 'scalar'}, 'LandmarkDetected', 'CameraLocalPose');
            
            obj.JavaMessage.setCameraLocalPose(cameralocalpose.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.CameraLocalPose)
                obj.Cache.CameraLocalPose.setJavaObject(cameralocalpose.getJavaObject);
            end
        end
        
        function cameraworldpose = get.CameraWorldPose(obj)
            %get.CameraWorldPose Get the value for property CameraWorldPose
            if isempty(obj.Cache.CameraWorldPose)
                obj.Cache.CameraWorldPose = feval(obj.GeometryMsgsPoseClass, obj.JavaMessage.getCameraWorldPose);
            end
            cameraworldpose = obj.Cache.CameraWorldPose;
        end
        
        function set.CameraWorldPose(obj, cameraworldpose)
            %set.CameraWorldPose Set the value for property CameraWorldPose
            validateattributes(cameraworldpose, {obj.GeometryMsgsPoseClass}, {'nonempty', 'scalar'}, 'LandmarkDetected', 'CameraWorldPose');
            
            obj.JavaMessage.setCameraWorldPose(cameraworldpose.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.CameraWorldPose)
                obj.Cache.CameraWorldPose.setJavaObject(cameraworldpose.getJavaObject);
            end
        end
        
        function cameraname = get.CameraName(obj)
            %get.CameraName Get the value for property CameraName
            if isempty(obj.Cache.CameraName)
                obj.Cache.CameraName = feval(obj.StdMsgsStringClass, obj.JavaMessage.getCameraName);
            end
            cameraname = obj.Cache.CameraName;
        end
        
        function set.CameraName(obj, cameraname)
            %set.CameraName Set the value for property CameraName
            validateattributes(cameraname, {obj.StdMsgsStringClass}, {'nonempty', 'scalar'}, 'LandmarkDetected', 'CameraName');
            
            obj.JavaMessage.setCameraName(cameraname.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.CameraName)
                obj.Cache.CameraName.setJavaObject(cameraname.getJavaObject);
            end
        end
        
        function markids = get.MarkIds(obj)
            %get.MarkIds Get the value for property MarkIds
            if isempty(obj.Cache.MarkIds)
                javaArray = obj.JavaMessage.getMarkIds;
                array = obj.readJavaArray(javaArray, obj.StdMsgsInt32Class);
                obj.Cache.MarkIds = feval(obj.StdMsgsInt32Class, array);
            end
            markids = obj.Cache.MarkIds;
        end
        
        function set.MarkIds(obj, markids)
            %set.MarkIds Set the value for property MarkIds
            if ~isvector(markids) && isempty(markids)
                % Allow empty [] input
                markids = feval([obj.StdMsgsInt32Class '.empty'], 0, 1);
            end
            
            validateattributes(markids, {obj.StdMsgsInt32Class}, {'vector'}, 'LandmarkDetected', 'MarkIds');
            
            javaArray = obj.JavaMessage.getMarkIds;
            array = obj.writeJavaArray(markids, javaArray, obj.StdMsgsInt32Class);
            obj.JavaMessage.setMarkIds(array);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.MarkIds)
                obj.Cache.MarkIds = [];
                obj.Cache.MarkIds = obj.MarkIds;
            end
        end
        
        function shapealpha = get.ShapeAlpha(obj)
            %get.ShapeAlpha Get the value for property ShapeAlpha
            if isempty(obj.Cache.ShapeAlpha)
                javaArray = obj.JavaMessage.getShapeAlpha;
                array = obj.readJavaArray(javaArray, obj.StdMsgsFloat32Class);
                obj.Cache.ShapeAlpha = feval(obj.StdMsgsFloat32Class, array);
            end
            shapealpha = obj.Cache.ShapeAlpha;
        end
        
        function set.ShapeAlpha(obj, shapealpha)
            %set.ShapeAlpha Set the value for property ShapeAlpha
            if ~isvector(shapealpha) && isempty(shapealpha)
                % Allow empty [] input
                shapealpha = feval([obj.StdMsgsFloat32Class '.empty'], 0, 1);
            end
            
            validateattributes(shapealpha, {obj.StdMsgsFloat32Class}, {'vector'}, 'LandmarkDetected', 'ShapeAlpha');
            
            javaArray = obj.JavaMessage.getShapeAlpha;
            array = obj.writeJavaArray(shapealpha, javaArray, obj.StdMsgsFloat32Class);
            obj.JavaMessage.setShapeAlpha(array);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.ShapeAlpha)
                obj.Cache.ShapeAlpha = [];
                obj.Cache.ShapeAlpha = obj.ShapeAlpha;
            end
        end
        
        function shapebeta = get.ShapeBeta(obj)
            %get.ShapeBeta Get the value for property ShapeBeta
            if isempty(obj.Cache.ShapeBeta)
                javaArray = obj.JavaMessage.getShapeBeta;
                array = obj.readJavaArray(javaArray, obj.StdMsgsFloat32Class);
                obj.Cache.ShapeBeta = feval(obj.StdMsgsFloat32Class, array);
            end
            shapebeta = obj.Cache.ShapeBeta;
        end
        
        function set.ShapeBeta(obj, shapebeta)
            %set.ShapeBeta Set the value for property ShapeBeta
            if ~isvector(shapebeta) && isempty(shapebeta)
                % Allow empty [] input
                shapebeta = feval([obj.StdMsgsFloat32Class '.empty'], 0, 1);
            end
            
            validateattributes(shapebeta, {obj.StdMsgsFloat32Class}, {'vector'}, 'LandmarkDetected', 'ShapeBeta');
            
            javaArray = obj.JavaMessage.getShapeBeta;
            array = obj.writeJavaArray(shapebeta, javaArray, obj.StdMsgsFloat32Class);
            obj.JavaMessage.setShapeBeta(array);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.ShapeBeta)
                obj.Cache.ShapeBeta = [];
                obj.Cache.ShapeBeta = obj.ShapeBeta;
            end
        end
        
        function shapesizex = get.ShapeSizex(obj)
            %get.ShapeSizex Get the value for property ShapeSizex
            if isempty(obj.Cache.ShapeSizex)
                javaArray = obj.JavaMessage.getShapeSizex;
                array = obj.readJavaArray(javaArray, obj.StdMsgsFloat32Class);
                obj.Cache.ShapeSizex = feval(obj.StdMsgsFloat32Class, array);
            end
            shapesizex = obj.Cache.ShapeSizex;
        end
        
        function set.ShapeSizex(obj, shapesizex)
            %set.ShapeSizex Set the value for property ShapeSizex
            if ~isvector(shapesizex) && isempty(shapesizex)
                % Allow empty [] input
                shapesizex = feval([obj.StdMsgsFloat32Class '.empty'], 0, 1);
            end
            
            validateattributes(shapesizex, {obj.StdMsgsFloat32Class}, {'vector'}, 'LandmarkDetected', 'ShapeSizex');
            
            javaArray = obj.JavaMessage.getShapeSizex;
            array = obj.writeJavaArray(shapesizex, javaArray, obj.StdMsgsFloat32Class);
            obj.JavaMessage.setShapeSizex(array);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.ShapeSizex)
                obj.Cache.ShapeSizex = [];
                obj.Cache.ShapeSizex = obj.ShapeSizex;
            end
        end
        
        function shapesizey = get.ShapeSizey(obj)
            %get.ShapeSizey Get the value for property ShapeSizey
            if isempty(obj.Cache.ShapeSizey)
                javaArray = obj.JavaMessage.getShapeSizey;
                array = obj.readJavaArray(javaArray, obj.StdMsgsFloat32Class);
                obj.Cache.ShapeSizey = feval(obj.StdMsgsFloat32Class, array);
            end
            shapesizey = obj.Cache.ShapeSizey;
        end
        
        function set.ShapeSizey(obj, shapesizey)
            %set.ShapeSizey Set the value for property ShapeSizey
            if ~isvector(shapesizey) && isempty(shapesizey)
                % Allow empty [] input
                shapesizey = feval([obj.StdMsgsFloat32Class '.empty'], 0, 1);
            end
            
            validateattributes(shapesizey, {obj.StdMsgsFloat32Class}, {'vector'}, 'LandmarkDetected', 'ShapeSizey');
            
            javaArray = obj.JavaMessage.getShapeSizey;
            array = obj.writeJavaArray(shapesizey, javaArray, obj.StdMsgsFloat32Class);
            obj.JavaMessage.setShapeSizey(array);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.ShapeSizey)
                obj.Cache.ShapeSizey = [];
                obj.Cache.ShapeSizey = obj.ShapeSizey;
            end
        end
    end
    
    methods (Access = protected)
        function resetCache(obj)
            %resetCache Resets any cached properties
            obj.Cache.Header = [];
            obj.Cache.MarkIds = [];
            obj.Cache.ShapeAlpha = [];
            obj.Cache.ShapeBeta = [];
            obj.Cache.ShapeSizex = [];
            obj.Cache.ShapeSizey = [];
            obj.Cache.CameraLocalPose = [];
            obj.Cache.CameraWorldPose = [];
            obj.Cache.CameraName = [];
        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.Header = copy(obj.Header);
            cpObj.CameraLocalPose = copy(obj.CameraLocalPose);
            cpObj.CameraWorldPose = copy(obj.CameraWorldPose);
            cpObj.CameraName = copy(obj.CameraName);
            cpObj.MarkIds = copy(obj.MarkIds);
            cpObj.ShapeAlpha = copy(obj.ShapeAlpha);
            cpObj.ShapeBeta = copy(obj.ShapeBeta);
            cpObj.ShapeSizex = copy(obj.ShapeSizex);
            cpObj.ShapeSizey = copy(obj.ShapeSizey);
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header);
            obj.CameraLocalPose = feval([obj.GeometryMsgsPoseClass '.loadobj'], strObj.CameraLocalPose);
            obj.CameraWorldPose = feval([obj.GeometryMsgsPoseClass '.loadobj'], strObj.CameraWorldPose);
            obj.CameraName = feval([obj.StdMsgsStringClass '.loadobj'], strObj.CameraName);
            MarkIdsCell = arrayfun(@(x) feval([obj.StdMsgsInt32Class '.loadobj'], x), strObj.MarkIds, 'UniformOutput', false);
            obj.MarkIds = vertcat(MarkIdsCell{:});
            ShapeAlphaCell = arrayfun(@(x) feval([obj.StdMsgsFloat32Class '.loadobj'], x), strObj.ShapeAlpha, 'UniformOutput', false);
            obj.ShapeAlpha = vertcat(ShapeAlphaCell{:});
            ShapeBetaCell = arrayfun(@(x) feval([obj.StdMsgsFloat32Class '.loadobj'], x), strObj.ShapeBeta, 'UniformOutput', false);
            obj.ShapeBeta = vertcat(ShapeBetaCell{:});
            ShapeSizexCell = arrayfun(@(x) feval([obj.StdMsgsFloat32Class '.loadobj'], x), strObj.ShapeSizex, 'UniformOutput', false);
            obj.ShapeSizex = vertcat(ShapeSizexCell{:});
            ShapeSizeyCell = arrayfun(@(x) feval([obj.StdMsgsFloat32Class '.loadobj'], x), strObj.ShapeSizey, 'UniformOutput', false);
            obj.ShapeSizey = vertcat(ShapeSizeyCell{:});
        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.Header = saveobj(obj.Header);
            strObj.CameraLocalPose = saveobj(obj.CameraLocalPose);
            strObj.CameraWorldPose = saveobj(obj.CameraWorldPose);
            strObj.CameraName = saveobj(obj.CameraName);
            strObj.MarkIds = arrayfun(@(x) saveobj(x), obj.MarkIds);
            strObj.ShapeAlpha = arrayfun(@(x) saveobj(x), obj.ShapeAlpha);
            strObj.ShapeBeta = arrayfun(@(x) saveobj(x), obj.ShapeBeta);
            strObj.ShapeSizex = arrayfun(@(x) saveobj(x), obj.ShapeSizex);
            strObj.ShapeSizey = arrayfun(@(x) saveobj(x), obj.ShapeSizey);
        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.nao_interaction_msgs.LandmarkDetected.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.nao_interaction_msgs.LandmarkDetected;
            obj.reload(strObj);
        end
    end
end