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

    classdef Person < robotics.ros.Message
    %Person MATLAB implementation of people_msgs/Person
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'people_msgs/Person' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = '0b7c0818b76476f3863bd13f4d59f8df' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Constant, Access = protected)
        GeometryMsgsPointClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Point') % Dispatch to MATLAB class for message type geometry_msgs/Point
    end
    
    properties (Dependent)
        Name
        Position
        Velocity
        Reliability
        Tagnames
        Tags
    end
    
    properties (Access = protected)
        Cache = struct('Position', [], 'Velocity', []) % The cache for fast data access
    end
    
    properties (Constant, Hidden)
        PropertyList = {'Name', 'Position', 'Reliability', 'Tagnames', 'Tags', 'Velocity'} % List of non-constant message properties
        ROSPropertyList = {'name', 'position', 'reliability', 'tagnames', 'tags', 'velocity'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = Person(msg)
            %Person Construct the message object Person
            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 name = get.Name(obj)
            %get.Name Get the value for property Name
            name = char(obj.JavaMessage.getName);
        end
        
        function set.Name(obj, name)
            %set.Name Set the value for property Name
            validateattributes(name, {'char'}, {}, 'Person', 'Name');
            
            obj.JavaMessage.setName(name);
        end
        
        function position = get.Position(obj)
            %get.Position Get the value for property Position
            if isempty(obj.Cache.Position)
                obj.Cache.Position = feval(obj.GeometryMsgsPointClass, obj.JavaMessage.getPosition);
            end
            position = obj.Cache.Position;
        end
        
        function set.Position(obj, position)
            %set.Position Set the value for property Position
            validateattributes(position, {obj.GeometryMsgsPointClass}, {'nonempty', 'scalar'}, 'Person', 'Position');
            
            obj.JavaMessage.setPosition(position.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.Position)
                obj.Cache.Position.setJavaObject(position.getJavaObject);
            end
        end
        
        function velocity = get.Velocity(obj)
            %get.Velocity Get the value for property Velocity
            if isempty(obj.Cache.Velocity)
                obj.Cache.Velocity = feval(obj.GeometryMsgsPointClass, obj.JavaMessage.getVelocity);
            end
            velocity = obj.Cache.Velocity;
        end
        
        function set.Velocity(obj, velocity)
            %set.Velocity Set the value for property Velocity
            validateattributes(velocity, {obj.GeometryMsgsPointClass}, {'nonempty', 'scalar'}, 'Person', 'Velocity');
            
            obj.JavaMessage.setVelocity(velocity.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.Velocity)
                obj.Cache.Velocity.setJavaObject(velocity.getJavaObject);
            end
        end
        
        function reliability = get.Reliability(obj)
            %get.Reliability Get the value for property Reliability
            reliability = double(obj.JavaMessage.getReliability);
        end
        
        function set.Reliability(obj, reliability)
            %set.Reliability Set the value for property Reliability
            validateattributes(reliability, {'numeric'}, {'nonempty', 'scalar'}, 'Person', 'Reliability');
            
            obj.JavaMessage.setReliability(reliability);
        end
        
        function tagnames = get.Tagnames(obj)
            %get.Tagnames Get the value for property Tagnames
            javaArray = obj.JavaMessage.getTagnames;
            array = obj.readJavaArray(javaArray, 'char');
            tagnames = arrayfun(@(x) char(x), array, 'UniformOutput', false);
        end
        
        function set.Tagnames(obj, tagnames)
            %set.Tagnames Set the value for property Tagnames
            if ~isvector(tagnames) && isempty(tagnames)
                % Allow empty [] input
                tagnames = cell.empty(0,1);
            end
            
            validateattributes(tagnames, {'cell'}, {'vector'}, 'Person', 'Tagnames');
            if any(cellfun(@(x) ~ischar(x), tagnames))
                error(message('robotics:ros:message:CellArrayStringError', ...
                    'tagnames'));
            end
            
            javaArray = obj.JavaMessage.getTagnames;
            array = obj.writeJavaArray(tagnames, javaArray, 'char');
            obj.JavaMessage.setTagnames(array);
        end
        
        function tags = get.Tags(obj)
            %get.Tags Get the value for property Tags
            javaArray = obj.JavaMessage.getTags;
            array = obj.readJavaArray(javaArray, 'char');
            tags = arrayfun(@(x) char(x), array, 'UniformOutput', false);
        end
        
        function set.Tags(obj, tags)
            %set.Tags Set the value for property Tags
            if ~isvector(tags) && isempty(tags)
                % Allow empty [] input
                tags = cell.empty(0,1);
            end
            
            validateattributes(tags, {'cell'}, {'vector'}, 'Person', 'Tags');
            if any(cellfun(@(x) ~ischar(x), tags))
                error(message('robotics:ros:message:CellArrayStringError', ...
                    'tags'));
            end
            
            javaArray = obj.JavaMessage.getTags;
            array = obj.writeJavaArray(tags, javaArray, 'char');
            obj.JavaMessage.setTags(array);
        end
    end
    
    methods (Access = protected)
        function resetCache(obj)
            %resetCache Resets any cached properties
            obj.Cache.Position = [];
            obj.Cache.Velocity = [];
        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.Name = obj.Name;
            cpObj.Reliability = obj.Reliability;
            cpObj.Tagnames = obj.Tagnames;
            cpObj.Tags = obj.Tags;
            
            % Recursively copy compound properties
            cpObj.Position = copy(obj.Position);
            cpObj.Velocity = copy(obj.Velocity);
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.Name = strObj.Name;
            obj.Reliability = strObj.Reliability;
            obj.Tagnames = strObj.Tagnames;
            obj.Tags = strObj.Tags;
            obj.Position = feval([obj.GeometryMsgsPointClass '.loadobj'], strObj.Position);
            obj.Velocity = feval([obj.GeometryMsgsPointClass '.loadobj'], strObj.Velocity);
        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.Name = obj.Name;
            strObj.Reliability = obj.Reliability;
            strObj.Tagnames = obj.Tagnames;
            strObj.Tags = obj.Tags;
            strObj.Position = saveobj(obj.Position);
            strObj.Velocity = saveobj(obj.Velocity);
        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.people_msgs.Person.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.people_msgs.Person;
            obj.reload(strObj);
        end
    end
end