www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+navfn/MakeNavPlanRequest.m
classdef MakeNavPlanRequest < robotics.ros.Message %MakeNavPlanRequest MATLAB implementation of navfn/MakeNavPlanRequest % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'navfn/MakeNavPlanRequest' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '2fe3126bd5b2d56edd5005220333d4fd' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) GeometryMsgsPoseStampedClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/PoseStamped') % Dispatch to MATLAB class for message type geometry_msgs/PoseStamped end properties (Dependent) Start Goal end properties (Access = protected) Cache = struct('Start', [], 'Goal', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Goal', 'Start'} % List of non-constant message properties ROSPropertyList = {'goal', 'start'} % List of non-constant ROS message properties end methods function obj = MakeNavPlanRequest(msg) %MakeNavPlanRequest Construct the message object MakeNavPlanRequest 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 start = get.Start(obj) %get.Start Get the value for property Start if isempty(obj.Cache.Start) obj.Cache.Start = feval(obj.GeometryMsgsPoseStampedClass, obj.JavaMessage.getStart); end start = obj.Cache.Start; end function set.Start(obj, start) %set.Start Set the value for property Start validateattributes(start, {obj.GeometryMsgsPoseStampedClass}, {'nonempty', 'scalar'}, 'MakeNavPlanRequest', 'Start'); obj.JavaMessage.setStart(start.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Start) obj.Cache.Start.setJavaObject(start.getJavaObject); end end function goal = get.Goal(obj) %get.Goal Get the value for property Goal if isempty(obj.Cache.Goal) obj.Cache.Goal = feval(obj.GeometryMsgsPoseStampedClass, obj.JavaMessage.getGoal); end goal = obj.Cache.Goal; end function set.Goal(obj, goal) %set.Goal Set the value for property Goal validateattributes(goal, {obj.GeometryMsgsPoseStampedClass}, {'nonempty', 'scalar'}, 'MakeNavPlanRequest', 'Goal'); obj.JavaMessage.setGoal(goal.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Goal) obj.Cache.Goal.setJavaObject(goal.getJavaObject); end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Start = []; obj.Cache.Goal = []; 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.Start = copy(obj.Start); cpObj.Goal = copy(obj.Goal); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Start = feval([obj.GeometryMsgsPoseStampedClass '.loadobj'], strObj.Start); obj.Goal = feval([obj.GeometryMsgsPoseStampedClass '.loadobj'], strObj.Goal); 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.Start = saveobj(obj.Start); strObj.Goal = saveobj(obj.Goal); 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.navfn.MakeNavPlanRequest.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.navfn.MakeNavPlanRequest; obj.reload(strObj); end end end