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