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