www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+play_motion_msgs/MotionInfo.m
classdef MotionInfo < robotics.ros.Message %MotionInfo MATLAB implementation of play_motion_msgs/MotionInfo % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'play_motion_msgs/MotionInfo' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '12fa5a438744c4ad98a7da64c759d1bd' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) DurationClass = robotics.ros.msg.internal.MessageFactory.getClassForType('duration') % Dispatch to MATLAB class for message type duration end properties (Dependent) Name Duration Joints end properties (Access = protected) Cache = struct('Duration', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Duration', 'Joints', 'Name'} % List of non-constant message properties ROSPropertyList = {'duration', 'joints', 'name'} % List of non-constant ROS message properties end methods function obj = MotionInfo(msg) %MotionInfo Construct the message object MotionInfo 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'}, {}, 'MotionInfo', 'Name'); obj.JavaMessage.setName(name); end function duration = get.Duration(obj) %get.Duration Get the value for property Duration if isempty(obj.Cache.Duration) obj.Cache.Duration = feval(obj.DurationClass, obj.JavaMessage.getDuration); end duration = obj.Cache.Duration; end function set.Duration(obj, duration) %set.Duration Set the value for property Duration validateattributes(duration, {obj.DurationClass}, {'nonempty', 'scalar'}, 'MotionInfo', 'Duration'); obj.JavaMessage.setDuration(duration.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Duration) obj.Cache.Duration.setJavaObject(duration.getJavaObject); end end function joints = get.Joints(obj) %get.Joints Get the value for property Joints javaArray = obj.JavaMessage.getJoints; array = obj.readJavaArray(javaArray, 'char'); joints = arrayfun(@(x) char(x), array, 'UniformOutput', false); end function set.Joints(obj, joints) %set.Joints Set the value for property Joints if ~isvector(joints) && isempty(joints) % Allow empty [] input joints = cell.empty(0,1); end validateattributes(joints, {'cell'}, {'vector'}, 'MotionInfo', 'Joints'); if any(cellfun(@(x) ~ischar(x), joints)) error(message('robotics:ros:message:CellArrayStringError', ... 'joints')); end javaArray = obj.JavaMessage.getJoints; array = obj.writeJavaArray(joints, javaArray, 'char'); obj.JavaMessage.setJoints(array); end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Duration = []; 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.Joints = obj.Joints; % Recursively copy compound properties cpObj.Duration = copy(obj.Duration); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Name = strObj.Name; obj.Joints = strObj.Joints; obj.Duration = feval([obj.DurationClass '.loadobj'], strObj.Duration); 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.Joints = obj.Joints; strObj.Duration = saveobj(obj.Duration); 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.play_motion_msgs.MotionInfo.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.play_motion_msgs.MotionInfo; obj.reload(strObj); end end end