www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+nao_msgs/JointAnglesWithSpeedAction.m
classdef JointAnglesWithSpeedAction < robotics.ros.Message %JointAnglesWithSpeedAction MATLAB implementation of nao_msgs/JointAnglesWithSpeedAction % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'nao_msgs/JointAnglesWithSpeedAction' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'efd2f7ac88847414fd26aacf32f993a5' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) NaoMsgsJointAnglesWithSpeedActionFeedbackClass = robotics.ros.msg.internal.MessageFactory.getClassForType('nao_msgs/JointAnglesWithSpeedActionFeedback') % Dispatch to MATLAB class for message type nao_msgs/JointAnglesWithSpeedActionFeedback NaoMsgsJointAnglesWithSpeedActionGoalClass = robotics.ros.msg.internal.MessageFactory.getClassForType('nao_msgs/JointAnglesWithSpeedActionGoal') % Dispatch to MATLAB class for message type nao_msgs/JointAnglesWithSpeedActionGoal NaoMsgsJointAnglesWithSpeedActionResultClass = robotics.ros.msg.internal.MessageFactory.getClassForType('nao_msgs/JointAnglesWithSpeedActionResult') % Dispatch to MATLAB class for message type nao_msgs/JointAnglesWithSpeedActionResult end properties (Dependent) ActionGoal ActionResult ActionFeedback end properties (Access = protected) Cache = struct('ActionGoal', [], 'ActionResult', [], 'ActionFeedback', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'ActionFeedback', 'ActionGoal', 'ActionResult'} % List of non-constant message properties ROSPropertyList = {'action_feedback', 'action_goal', 'action_result'} % List of non-constant ROS message properties end methods function obj = JointAnglesWithSpeedAction(msg) %JointAnglesWithSpeedAction Construct the message object JointAnglesWithSpeedAction 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 actiongoal = get.ActionGoal(obj) %get.ActionGoal Get the value for property ActionGoal if isempty(obj.Cache.ActionGoal) obj.Cache.ActionGoal = feval(obj.NaoMsgsJointAnglesWithSpeedActionGoalClass, obj.JavaMessage.getActionGoal); end actiongoal = obj.Cache.ActionGoal; end function set.ActionGoal(obj, actiongoal) %set.ActionGoal Set the value for property ActionGoal validateattributes(actiongoal, {obj.NaoMsgsJointAnglesWithSpeedActionGoalClass}, {'nonempty', 'scalar'}, 'JointAnglesWithSpeedAction', 'ActionGoal'); obj.JavaMessage.setActionGoal(actiongoal.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.ActionGoal) obj.Cache.ActionGoal.setJavaObject(actiongoal.getJavaObject); end end function actionresult = get.ActionResult(obj) %get.ActionResult Get the value for property ActionResult if isempty(obj.Cache.ActionResult) obj.Cache.ActionResult = feval(obj.NaoMsgsJointAnglesWithSpeedActionResultClass, obj.JavaMessage.getActionResult); end actionresult = obj.Cache.ActionResult; end function set.ActionResult(obj, actionresult) %set.ActionResult Set the value for property ActionResult validateattributes(actionresult, {obj.NaoMsgsJointAnglesWithSpeedActionResultClass}, {'nonempty', 'scalar'}, 'JointAnglesWithSpeedAction', 'ActionResult'); obj.JavaMessage.setActionResult(actionresult.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.ActionResult) obj.Cache.ActionResult.setJavaObject(actionresult.getJavaObject); end end function actionfeedback = get.ActionFeedback(obj) %get.ActionFeedback Get the value for property ActionFeedback if isempty(obj.Cache.ActionFeedback) obj.Cache.ActionFeedback = feval(obj.NaoMsgsJointAnglesWithSpeedActionFeedbackClass, obj.JavaMessage.getActionFeedback); end actionfeedback = obj.Cache.ActionFeedback; end function set.ActionFeedback(obj, actionfeedback) %set.ActionFeedback Set the value for property ActionFeedback validateattributes(actionfeedback, {obj.NaoMsgsJointAnglesWithSpeedActionFeedbackClass}, {'nonempty', 'scalar'}, 'JointAnglesWithSpeedAction', 'ActionFeedback'); obj.JavaMessage.setActionFeedback(actionfeedback.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.ActionFeedback) obj.Cache.ActionFeedback.setJavaObject(actionfeedback.getJavaObject); end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.ActionGoal = []; obj.Cache.ActionResult = []; obj.Cache.ActionFeedback = []; 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.ActionGoal = copy(obj.ActionGoal); cpObj.ActionResult = copy(obj.ActionResult); cpObj.ActionFeedback = copy(obj.ActionFeedback); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.ActionGoal = feval([obj.NaoMsgsJointAnglesWithSpeedActionGoalClass '.loadobj'], strObj.ActionGoal); obj.ActionResult = feval([obj.NaoMsgsJointAnglesWithSpeedActionResultClass '.loadobj'], strObj.ActionResult); obj.ActionFeedback = feval([obj.NaoMsgsJointAnglesWithSpeedActionFeedbackClass '.loadobj'], strObj.ActionFeedback); 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.ActionGoal = saveobj(obj.ActionGoal); strObj.ActionResult = saveobj(obj.ActionResult); strObj.ActionFeedback = saveobj(obj.ActionFeedback); 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_msgs.JointAnglesWithSpeedAction.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.nao_msgs.JointAnglesWithSpeedAction; obj.reload(strObj); end end end