www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+nav2d_navigator/MoveToPosition2DGoal.m
classdef MoveToPosition2DGoal < robotics.ros.Message %MoveToPosition2DGoal MATLAB implementation of nav2d_navigator/MoveToPosition2DGoal % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'nav2d_navigator/MoveToPosition2DGoal' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '471d15abce131270d05238fa2475ae64' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) GeometryMsgsPose2DClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Pose2D') % Dispatch to MATLAB class for message type geometry_msgs/Pose2D StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header end properties (Dependent) Header TargetPose TargetDistance TargetAngle end properties (Access = protected) Cache = struct('Header', [], 'TargetPose', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Header', 'TargetAngle', 'TargetDistance', 'TargetPose'} % List of non-constant message properties ROSPropertyList = {'header', 'target_angle', 'target_distance', 'target_pose'} % List of non-constant ROS message properties end methods function obj = MoveToPosition2DGoal(msg) %MoveToPosition2DGoal Construct the message object MoveToPosition2DGoal 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'}, 'MoveToPosition2DGoal', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function targetpose = get.TargetPose(obj) %get.TargetPose Get the value for property TargetPose if isempty(obj.Cache.TargetPose) obj.Cache.TargetPose = feval(obj.GeometryMsgsPose2DClass, obj.JavaMessage.getTargetPose); end targetpose = obj.Cache.TargetPose; end function set.TargetPose(obj, targetpose) %set.TargetPose Set the value for property TargetPose validateattributes(targetpose, {obj.GeometryMsgsPose2DClass}, {'nonempty', 'scalar'}, 'MoveToPosition2DGoal', 'TargetPose'); obj.JavaMessage.setTargetPose(targetpose.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.TargetPose) obj.Cache.TargetPose.setJavaObject(targetpose.getJavaObject); end end function targetdistance = get.TargetDistance(obj) %get.TargetDistance Get the value for property TargetDistance targetdistance = single(obj.JavaMessage.getTargetDistance); end function set.TargetDistance(obj, targetdistance) %set.TargetDistance Set the value for property TargetDistance validateattributes(targetdistance, {'numeric'}, {'nonempty', 'scalar'}, 'MoveToPosition2DGoal', 'TargetDistance'); obj.JavaMessage.setTargetDistance(targetdistance); end function targetangle = get.TargetAngle(obj) %get.TargetAngle Get the value for property TargetAngle targetangle = single(obj.JavaMessage.getTargetAngle); end function set.TargetAngle(obj, targetangle) %set.TargetAngle Set the value for property TargetAngle validateattributes(targetangle, {'numeric'}, {'nonempty', 'scalar'}, 'MoveToPosition2DGoal', 'TargetAngle'); obj.JavaMessage.setTargetAngle(targetangle); end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Header = []; obj.Cache.TargetPose = []; 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.TargetDistance = obj.TargetDistance; cpObj.TargetAngle = obj.TargetAngle; % Recursively copy compound properties cpObj.Header = copy(obj.Header); cpObj.TargetPose = copy(obj.TargetPose); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.TargetDistance = strObj.TargetDistance; obj.TargetAngle = strObj.TargetAngle; obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header); obj.TargetPose = feval([obj.GeometryMsgsPose2DClass '.loadobj'], strObj.TargetPose); 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.TargetDistance = obj.TargetDistance; strObj.TargetAngle = obj.TargetAngle; strObj.Header = saveobj(obj.Header); strObj.TargetPose = saveobj(obj.TargetPose); 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.nav2d_navigator.MoveToPosition2DGoal.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.nav2d_navigator.MoveToPosition2DGoal; obj.reload(strObj); end end end