www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+pr2_controllers_msgs/JointControllerState.m

    classdef JointControllerState < robotics.ros.Message
    %JointControllerState MATLAB implementation of pr2_controllers_msgs/JointControllerState
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'pr2_controllers_msgs/JointControllerState' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = 'c0d034a7bf20aeb1c37f3eccb7992b69' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Constant, Access = protected)
        StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header
    end
    
    properties (Dependent)
        Header
        SetPoint
        ProcessValue
        ProcessValueDot
        Error
        TimeStep
        Command
        P
        I
        D
        IClamp
    end
    
    properties (Access = protected)
        Cache = struct('Header', []) % The cache for fast data access
    end
    
    properties (Constant, Hidden)
        PropertyList = {'Command', 'D', 'Error', 'Header', 'I', 'IClamp', 'P', 'ProcessValue', 'ProcessValueDot', 'SetPoint', 'TimeStep'} % List of non-constant message properties
        ROSPropertyList = {'command', 'd', 'error', 'header', 'i', 'i_clamp', 'p', 'process_value', 'process_value_dot', 'set_point', 'time_step'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = JointControllerState(msg)
            %JointControllerState Construct the message object JointControllerState
            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'}, 'JointControllerState', 'Header');
            
            obj.JavaMessage.setHeader(header.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.Header)
                obj.Cache.Header.setJavaObject(header.getJavaObject);
            end
        end
        
        function setpoint = get.SetPoint(obj)
            %get.SetPoint Get the value for property SetPoint
            setpoint = double(obj.JavaMessage.getSetPoint);
        end
        
        function set.SetPoint(obj, setpoint)
            %set.SetPoint Set the value for property SetPoint
            validateattributes(setpoint, {'numeric'}, {'nonempty', 'scalar'}, 'JointControllerState', 'SetPoint');
            
            obj.JavaMessage.setSetPoint(setpoint);
        end
        
        function processvalue = get.ProcessValue(obj)
            %get.ProcessValue Get the value for property ProcessValue
            processvalue = double(obj.JavaMessage.getProcessValue);
        end
        
        function set.ProcessValue(obj, processvalue)
            %set.ProcessValue Set the value for property ProcessValue
            validateattributes(processvalue, {'numeric'}, {'nonempty', 'scalar'}, 'JointControllerState', 'ProcessValue');
            
            obj.JavaMessage.setProcessValue(processvalue);
        end
        
        function processvaluedot = get.ProcessValueDot(obj)
            %get.ProcessValueDot Get the value for property ProcessValueDot
            processvaluedot = double(obj.JavaMessage.getProcessValueDot);
        end
        
        function set.ProcessValueDot(obj, processvaluedot)
            %set.ProcessValueDot Set the value for property ProcessValueDot
            validateattributes(processvaluedot, {'numeric'}, {'nonempty', 'scalar'}, 'JointControllerState', 'ProcessValueDot');
            
            obj.JavaMessage.setProcessValueDot(processvaluedot);
        end
        
        function error = get.Error(obj)
            %get.Error Get the value for property Error
            error = double(obj.JavaMessage.getError);
        end
        
        function set.Error(obj, error)
            %set.Error Set the value for property Error
            validateattributes(error, {'numeric'}, {'nonempty', 'scalar'}, 'JointControllerState', 'Error');
            
            obj.JavaMessage.setError(error);
        end
        
        function timestep = get.TimeStep(obj)
            %get.TimeStep Get the value for property TimeStep
            timestep = double(obj.JavaMessage.getTimeStep);
        end
        
        function set.TimeStep(obj, timestep)
            %set.TimeStep Set the value for property TimeStep
            validateattributes(timestep, {'numeric'}, {'nonempty', 'scalar'}, 'JointControllerState', 'TimeStep');
            
            obj.JavaMessage.setTimeStep(timestep);
        end
        
        function command = get.Command(obj)
            %get.Command Get the value for property Command
            command = double(obj.JavaMessage.getCommand);
        end
        
        function set.Command(obj, command)
            %set.Command Set the value for property Command
            validateattributes(command, {'numeric'}, {'nonempty', 'scalar'}, 'JointControllerState', 'Command');
            
            obj.JavaMessage.setCommand(command);
        end
        
        function p = get.P(obj)
            %get.P Get the value for property P
            p = double(obj.JavaMessage.getP);
        end
        
        function set.P(obj, p)
            %set.P Set the value for property P
            validateattributes(p, {'numeric'}, {'nonempty', 'scalar'}, 'JointControllerState', 'P');
            
            obj.JavaMessage.setP(p);
        end
        
        function i = get.I(obj)
            %get.I Get the value for property I
            i = double(obj.JavaMessage.getI);
        end
        
        function set.I(obj, i)
            %set.I Set the value for property I
            validateattributes(i, {'numeric'}, {'nonempty', 'scalar'}, 'JointControllerState', 'I');
            
            obj.JavaMessage.setI(i);
        end
        
        function d = get.D(obj)
            %get.D Get the value for property D
            d = double(obj.JavaMessage.getD);
        end
        
        function set.D(obj, d)
            %set.D Set the value for property D
            validateattributes(d, {'numeric'}, {'nonempty', 'scalar'}, 'JointControllerState', 'D');
            
            obj.JavaMessage.setD(d);
        end
        
        function iclamp = get.IClamp(obj)
            %get.IClamp Get the value for property IClamp
            iclamp = double(obj.JavaMessage.getIClamp);
        end
        
        function set.IClamp(obj, iclamp)
            %set.IClamp Set the value for property IClamp
            validateattributes(iclamp, {'numeric'}, {'nonempty', 'scalar'}, 'JointControllerState', 'IClamp');
            
            obj.JavaMessage.setIClamp(iclamp);
        end
    end
    
    methods (Access = protected)
        function resetCache(obj)
            %resetCache Resets any cached properties
            obj.Cache.Header = [];
        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.SetPoint = obj.SetPoint;
            cpObj.ProcessValue = obj.ProcessValue;
            cpObj.ProcessValueDot = obj.ProcessValueDot;
            cpObj.Error = obj.Error;
            cpObj.TimeStep = obj.TimeStep;
            cpObj.Command = obj.Command;
            cpObj.P = obj.P;
            cpObj.I = obj.I;
            cpObj.D = obj.D;
            cpObj.IClamp = obj.IClamp;
            
            % Recursively copy compound properties
            cpObj.Header = copy(obj.Header);
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.SetPoint = strObj.SetPoint;
            obj.ProcessValue = strObj.ProcessValue;
            obj.ProcessValueDot = strObj.ProcessValueDot;
            obj.Error = strObj.Error;
            obj.TimeStep = strObj.TimeStep;
            obj.Command = strObj.Command;
            obj.P = strObj.P;
            obj.I = strObj.I;
            obj.D = strObj.D;
            obj.IClamp = strObj.IClamp;
            obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header);
        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.SetPoint = obj.SetPoint;
            strObj.ProcessValue = obj.ProcessValue;
            strObj.ProcessValueDot = obj.ProcessValueDot;
            strObj.Error = obj.Error;
            strObj.TimeStep = obj.TimeStep;
            strObj.Command = obj.Command;
            strObj.P = obj.P;
            strObj.I = obj.I;
            strObj.D = obj.D;
            strObj.IClamp = obj.IClamp;
            strObj.Header = saveobj(obj.Header);
        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.pr2_controllers_msgs.JointControllerState.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.pr2_controllers_msgs.JointControllerState;
            obj.reload(strObj);
        end
    end
end