www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+pr2_gripper_sensor_msgs/PR2GripperFindContactData.m
classdef PR2GripperFindContactData < robotics.ros.Message %PR2GripperFindContactData MATLAB implementation of pr2_gripper_sensor_msgs/PR2GripperFindContactData % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'pr2_gripper_sensor_msgs/PR2GripperFindContactData' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'bc53e3dc7d19b896ca9b5ea205d54b91' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) Pr2GripperSensorMsgsPR2GripperSensorRTStateClass = robotics.ros.msg.internal.MessageFactory.getClassForType('pr2_gripper_sensor_msgs/PR2GripperSensorRTState') % Dispatch to MATLAB class for message type pr2_gripper_sensor_msgs/PR2GripperSensorRTState TimeClass = robotics.ros.msg.internal.MessageFactory.getClassForType('time') % Dispatch to MATLAB class for message type time end properties (Dependent) Stamp ContactConditionsMet LeftFingertipPadContact RightFingertipPadContact LeftFingertipPadForce RightFingertipPadForce JointPosition JointEffort Rtstate end properties (Access = protected) Cache = struct('Stamp', [], 'Rtstate', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'ContactConditionsMet', 'JointEffort', 'JointPosition', 'LeftFingertipPadContact', 'LeftFingertipPadForce', 'RightFingertipPadContact', 'RightFingertipPadForce', 'Rtstate', 'Stamp'} % List of non-constant message properties ROSPropertyList = {'contact_conditions_met', 'joint_effort', 'joint_position', 'left_fingertip_pad_contact', 'left_fingertip_pad_force', 'right_fingertip_pad_contact', 'right_fingertip_pad_force', 'rtstate', 'stamp'} % List of non-constant ROS message properties end methods function obj = PR2GripperFindContactData(msg) %PR2GripperFindContactData Construct the message object PR2GripperFindContactData 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 stamp = get.Stamp(obj) %get.Stamp Get the value for property Stamp if isempty(obj.Cache.Stamp) obj.Cache.Stamp = feval(obj.TimeClass, obj.JavaMessage.getStamp); end stamp = obj.Cache.Stamp; end function set.Stamp(obj, stamp) %set.Stamp Set the value for property Stamp validateattributes(stamp, {obj.TimeClass}, {'nonempty', 'scalar'}, 'PR2GripperFindContactData', 'Stamp'); obj.JavaMessage.setStamp(stamp.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Stamp) obj.Cache.Stamp.setJavaObject(stamp.getJavaObject); end end function contactconditionsmet = get.ContactConditionsMet(obj) %get.ContactConditionsMet Get the value for property ContactConditionsMet contactconditionsmet = logical(obj.JavaMessage.getContactConditionsMet); end function set.ContactConditionsMet(obj, contactconditionsmet) %set.ContactConditionsMet Set the value for property ContactConditionsMet validateattributes(contactconditionsmet, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'PR2GripperFindContactData', 'ContactConditionsMet'); obj.JavaMessage.setContactConditionsMet(contactconditionsmet); end function leftfingertippadcontact = get.LeftFingertipPadContact(obj) %get.LeftFingertipPadContact Get the value for property LeftFingertipPadContact leftfingertippadcontact = logical(obj.JavaMessage.getLeftFingertipPadContact); end function set.LeftFingertipPadContact(obj, leftfingertippadcontact) %set.LeftFingertipPadContact Set the value for property LeftFingertipPadContact validateattributes(leftfingertippadcontact, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'PR2GripperFindContactData', 'LeftFingertipPadContact'); obj.JavaMessage.setLeftFingertipPadContact(leftfingertippadcontact); end function rightfingertippadcontact = get.RightFingertipPadContact(obj) %get.RightFingertipPadContact Get the value for property RightFingertipPadContact rightfingertippadcontact = logical(obj.JavaMessage.getRightFingertipPadContact); end function set.RightFingertipPadContact(obj, rightfingertippadcontact) %set.RightFingertipPadContact Set the value for property RightFingertipPadContact validateattributes(rightfingertippadcontact, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'PR2GripperFindContactData', 'RightFingertipPadContact'); obj.JavaMessage.setRightFingertipPadContact(rightfingertippadcontact); end function leftfingertippadforce = get.LeftFingertipPadForce(obj) %get.LeftFingertipPadForce Get the value for property LeftFingertipPadForce leftfingertippadforce = double(obj.JavaMessage.getLeftFingertipPadForce); end function set.LeftFingertipPadForce(obj, leftfingertippadforce) %set.LeftFingertipPadForce Set the value for property LeftFingertipPadForce validateattributes(leftfingertippadforce, {'numeric'}, {'nonempty', 'scalar'}, 'PR2GripperFindContactData', 'LeftFingertipPadForce'); obj.JavaMessage.setLeftFingertipPadForce(leftfingertippadforce); end function rightfingertippadforce = get.RightFingertipPadForce(obj) %get.RightFingertipPadForce Get the value for property RightFingertipPadForce rightfingertippadforce = double(obj.JavaMessage.getRightFingertipPadForce); end function set.RightFingertipPadForce(obj, rightfingertippadforce) %set.RightFingertipPadForce Set the value for property RightFingertipPadForce validateattributes(rightfingertippadforce, {'numeric'}, {'nonempty', 'scalar'}, 'PR2GripperFindContactData', 'RightFingertipPadForce'); obj.JavaMessage.setRightFingertipPadForce(rightfingertippadforce); end function jointposition = get.JointPosition(obj) %get.JointPosition Get the value for property JointPosition jointposition = double(obj.JavaMessage.getJointPosition); end function set.JointPosition(obj, jointposition) %set.JointPosition Set the value for property JointPosition validateattributes(jointposition, {'numeric'}, {'nonempty', 'scalar'}, 'PR2GripperFindContactData', 'JointPosition'); obj.JavaMessage.setJointPosition(jointposition); end function jointeffort = get.JointEffort(obj) %get.JointEffort Get the value for property JointEffort jointeffort = double(obj.JavaMessage.getJointEffort); end function set.JointEffort(obj, jointeffort) %set.JointEffort Set the value for property JointEffort validateattributes(jointeffort, {'numeric'}, {'nonempty', 'scalar'}, 'PR2GripperFindContactData', 'JointEffort'); obj.JavaMessage.setJointEffort(jointeffort); end function rtstate = get.Rtstate(obj) %get.Rtstate Get the value for property Rtstate if isempty(obj.Cache.Rtstate) obj.Cache.Rtstate = feval(obj.Pr2GripperSensorMsgsPR2GripperSensorRTStateClass, obj.JavaMessage.getRtstate); end rtstate = obj.Cache.Rtstate; end function set.Rtstate(obj, rtstate) %set.Rtstate Set the value for property Rtstate validateattributes(rtstate, {obj.Pr2GripperSensorMsgsPR2GripperSensorRTStateClass}, {'nonempty', 'scalar'}, 'PR2GripperFindContactData', 'Rtstate'); obj.JavaMessage.setRtstate(rtstate.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Rtstate) obj.Cache.Rtstate.setJavaObject(rtstate.getJavaObject); end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Stamp = []; obj.Cache.Rtstate = []; 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.ContactConditionsMet = obj.ContactConditionsMet; cpObj.LeftFingertipPadContact = obj.LeftFingertipPadContact; cpObj.RightFingertipPadContact = obj.RightFingertipPadContact; cpObj.LeftFingertipPadForce = obj.LeftFingertipPadForce; cpObj.RightFingertipPadForce = obj.RightFingertipPadForce; cpObj.JointPosition = obj.JointPosition; cpObj.JointEffort = obj.JointEffort; % Recursively copy compound properties cpObj.Stamp = copy(obj.Stamp); cpObj.Rtstate = copy(obj.Rtstate); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.ContactConditionsMet = strObj.ContactConditionsMet; obj.LeftFingertipPadContact = strObj.LeftFingertipPadContact; obj.RightFingertipPadContact = strObj.RightFingertipPadContact; obj.LeftFingertipPadForce = strObj.LeftFingertipPadForce; obj.RightFingertipPadForce = strObj.RightFingertipPadForce; obj.JointPosition = strObj.JointPosition; obj.JointEffort = strObj.JointEffort; obj.Stamp = feval([obj.TimeClass '.loadobj'], strObj.Stamp); obj.Rtstate = feval([obj.Pr2GripperSensorMsgsPR2GripperSensorRTStateClass '.loadobj'], strObj.Rtstate); 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.ContactConditionsMet = obj.ContactConditionsMet; strObj.LeftFingertipPadContact = obj.LeftFingertipPadContact; strObj.RightFingertipPadContact = obj.RightFingertipPadContact; strObj.LeftFingertipPadForce = obj.LeftFingertipPadForce; strObj.RightFingertipPadForce = obj.RightFingertipPadForce; strObj.JointPosition = obj.JointPosition; strObj.JointEffort = obj.JointEffort; strObj.Stamp = saveobj(obj.Stamp); strObj.Rtstate = saveobj(obj.Rtstate); 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_gripper_sensor_msgs.PR2GripperFindContactData.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.pr2_gripper_sensor_msgs.PR2GripperFindContactData; obj.reload(strObj); end end end