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