www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+pr2_gazebo_plugins/PlugCommand.m
classdef PlugCommand < robotics.ros.Message %PlugCommand MATLAB implementation of pr2_gazebo_plugins/PlugCommand % 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/PlugCommand' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '852b7035ee3e7fa6390824cf7b7e6dd1' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Dependent) AcPresent ChargeRate DischargeRate Charge end properties (Constant, Hidden) PropertyList = {'AcPresent', 'Charge', 'ChargeRate', 'DischargeRate'} % List of non-constant message properties ROSPropertyList = {'ac_present', 'charge', 'charge_rate', 'discharge_rate'} % List of non-constant ROS message properties end methods function obj = PlugCommand(msg) %PlugCommand Construct the message object PlugCommand 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 acpresent = get.AcPresent(obj) %get.AcPresent Get the value for property AcPresent acpresent = logical(obj.JavaMessage.getAcPresent); end function set.AcPresent(obj, acpresent) %set.AcPresent Set the value for property AcPresent validateattributes(acpresent, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'PlugCommand', 'AcPresent'); obj.JavaMessage.setAcPresent(acpresent); end function chargerate = get.ChargeRate(obj) %get.ChargeRate Get the value for property ChargeRate chargerate = double(obj.JavaMessage.getChargeRate); end function set.ChargeRate(obj, chargerate) %set.ChargeRate Set the value for property ChargeRate validateattributes(chargerate, {'numeric'}, {'nonempty', 'scalar'}, 'PlugCommand', 'ChargeRate'); obj.JavaMessage.setChargeRate(chargerate); end function dischargerate = get.DischargeRate(obj) %get.DischargeRate Get the value for property DischargeRate dischargerate = double(obj.JavaMessage.getDischargeRate); end function set.DischargeRate(obj, dischargerate) %set.DischargeRate Set the value for property DischargeRate validateattributes(dischargerate, {'numeric'}, {'nonempty', 'scalar'}, 'PlugCommand', 'DischargeRate'); obj.JavaMessage.setDischargeRate(dischargerate); end function charge = get.Charge(obj) %get.Charge Get the value for property Charge charge = double(obj.JavaMessage.getCharge); end function set.Charge(obj, charge) %set.Charge Set the value for property Charge validateattributes(charge, {'numeric'}, {'nonempty', 'scalar'}, 'PlugCommand', 'Charge'); obj.JavaMessage.setCharge(charge); end end methods (Access = protected) function cpObj = copyElement(obj) %copyElement Implements deep copy behavior for message % Call default copy method for shallow copy cpObj = copyElement@robotics.ros.Message(obj); % Create a new Java message object cpObj.JavaMessage = obj.createNewJavaMessage; % Iterate over all primitive properties cpObj.AcPresent = obj.AcPresent; cpObj.ChargeRate = obj.ChargeRate; cpObj.DischargeRate = obj.DischargeRate; cpObj.Charge = obj.Charge; end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.AcPresent = strObj.AcPresent; obj.ChargeRate = strObj.ChargeRate; obj.DischargeRate = strObj.DischargeRate; obj.Charge = strObj.Charge; 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.AcPresent = obj.AcPresent; strObj.ChargeRate = obj.ChargeRate; strObj.DischargeRate = obj.DischargeRate; strObj.Charge = obj.Charge; 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.PlugCommand.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.pr2_gazebo_plugins.PlugCommand; obj.reload(strObj); end end end