www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+pr2_gazebo_plugins/ModelJointsState.m

    classdef ModelJointsState < robotics.ros.Message
    %ModelJointsState MATLAB implementation of pr2_gazebo_plugins/ModelJointsState
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'pr2_gazebo_plugins/ModelJointsState' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = 'f700a74958b6566fae4cd77fbb80ffd4' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Constant, Access = protected)
        GeometryMsgsPoseClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Pose') % Dispatch to MATLAB class for message type geometry_msgs/Pose
    end
    
    properties (Dependent)
        ModelPose
        JointNames
        JointPositions
    end
    
    properties (Access = protected)
        Cache = struct('ModelPose', []) % The cache for fast data access
    end
    
    properties (Constant, Hidden)
        PropertyList = {'JointNames', 'JointPositions', 'ModelPose'} % List of non-constant message properties
        ROSPropertyList = {'joint_names', 'joint_positions', 'model_pose'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = ModelJointsState(msg)
            %ModelJointsState Construct the message object ModelJointsState
            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 modelpose = get.ModelPose(obj)
            %get.ModelPose Get the value for property ModelPose
            if isempty(obj.Cache.ModelPose)
                javaArray = obj.JavaMessage.getModelPose;
                array = obj.readJavaArray(javaArray, obj.GeometryMsgsPoseClass);
                obj.Cache.ModelPose = feval(obj.GeometryMsgsPoseClass, array);
            end
            modelpose = obj.Cache.ModelPose;
        end
        
        function set.ModelPose(obj, modelpose)
            %set.ModelPose Set the value for property ModelPose
            if ~isvector(modelpose) && isempty(modelpose)
                % Allow empty [] input
                modelpose = feval([obj.GeometryMsgsPoseClass '.empty'], 0, 1);
            end
            
            validateattributes(modelpose, {obj.GeometryMsgsPoseClass}, {'vector'}, 'ModelJointsState', 'ModelPose');
            
            javaArray = obj.JavaMessage.getModelPose;
            array = obj.writeJavaArray(modelpose, javaArray, obj.GeometryMsgsPoseClass);
            obj.JavaMessage.setModelPose(array);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.ModelPose)
                obj.Cache.ModelPose = [];
                obj.Cache.ModelPose = obj.ModelPose;
            end
        end
        
        function jointnames = get.JointNames(obj)
            %get.JointNames Get the value for property JointNames
            javaArray = obj.JavaMessage.getJointNames;
            array = obj.readJavaArray(javaArray, 'char');
            jointnames = arrayfun(@(x) char(x), array, 'UniformOutput', false);
        end
        
        function set.JointNames(obj, jointnames)
            %set.JointNames Set the value for property JointNames
            if ~isvector(jointnames) && isempty(jointnames)
                % Allow empty [] input
                jointnames = cell.empty(0,1);
            end
            
            validateattributes(jointnames, {'cell'}, {'vector'}, 'ModelJointsState', 'JointNames');
            if any(cellfun(@(x) ~ischar(x), jointnames))
                error(message('robotics:ros:message:CellArrayStringError', ...
                    'jointnames'));
            end
            
            javaArray = obj.JavaMessage.getJointNames;
            array = obj.writeJavaArray(jointnames, javaArray, 'char');
            obj.JavaMessage.setJointNames(array);
        end
        
        function jointpositions = get.JointPositions(obj)
            %get.JointPositions Get the value for property JointPositions
            javaArray = obj.JavaMessage.getJointPositions;
            array = obj.readJavaArray(javaArray, 'double');
            jointpositions = double(array);
        end
        
        function set.JointPositions(obj, jointpositions)
            %set.JointPositions Set the value for property JointPositions
            if ~isvector(jointpositions) && isempty(jointpositions)
                % Allow empty [] input
                jointpositions = double.empty(0,1);
            end
            
            validateattributes(jointpositions, {'numeric'}, {'vector'}, 'ModelJointsState', 'JointPositions');
            
            javaArray = obj.JavaMessage.getJointPositions;
            array = obj.writeJavaArray(jointpositions, javaArray, 'double');
            obj.JavaMessage.setJointPositions(array);
        end
    end
    
    methods (Access = protected)
        function resetCache(obj)
            %resetCache Resets any cached properties
            obj.Cache.ModelPose = [];
        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.JointNames = obj.JointNames;
            cpObj.JointPositions = obj.JointPositions;
            
            % Recursively copy compound properties
            cpObj.ModelPose = copy(obj.ModelPose);
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.JointNames = strObj.JointNames;
            obj.JointPositions = strObj.JointPositions;
            ModelPoseCell = arrayfun(@(x) feval([obj.GeometryMsgsPoseClass '.loadobj'], x), strObj.ModelPose, 'UniformOutput', false);
            obj.ModelPose = vertcat(ModelPoseCell{:});
        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.JointNames = obj.JointNames;
            strObj.JointPositions = obj.JointPositions;
            strObj.ModelPose = arrayfun(@(x) saveobj(x), obj.ModelPose);
        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_gazebo_plugins.ModelJointsState.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.pr2_gazebo_plugins.ModelJointsState;
            obj.reload(strObj);
        end
    end
end