www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+pr2_mechanism_msgs/SwitchControllerGoal.m
classdef SwitchControllerGoal < robotics.ros.Message %SwitchControllerGoal MATLAB implementation of pr2_mechanism_msgs/SwitchControllerGoal % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'pr2_mechanism_msgs/SwitchControllerGoal' % The ROS message type end properties (Constant, Hidden) MD5Checksum = 'c3f1879cbb2d6cd8732c0e031574dde5' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Dependent) StartControllers StopControllers end properties (Constant, Hidden) PropertyList = {'StartControllers', 'StopControllers'} % List of non-constant message properties ROSPropertyList = {'start_controllers', 'stop_controllers'} % List of non-constant ROS message properties end methods function obj = SwitchControllerGoal(msg) %SwitchControllerGoal Construct the message object SwitchControllerGoal 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 startcontrollers = get.StartControllers(obj) %get.StartControllers Get the value for property StartControllers javaArray = obj.JavaMessage.getStartControllers; array = obj.readJavaArray(javaArray, 'char'); startcontrollers = arrayfun(@(x) char(x), array, 'UniformOutput', false); end function set.StartControllers(obj, startcontrollers) %set.StartControllers Set the value for property StartControllers if ~isvector(startcontrollers) && isempty(startcontrollers) % Allow empty [] input startcontrollers = cell.empty(0,1); end validateattributes(startcontrollers, {'cell'}, {'vector'}, 'SwitchControllerGoal', 'StartControllers'); if any(cellfun(@(x) ~ischar(x), startcontrollers)) error(message('robotics:ros:message:CellArrayStringError', ... 'startcontrollers')); end javaArray = obj.JavaMessage.getStartControllers; array = obj.writeJavaArray(startcontrollers, javaArray, 'char'); obj.JavaMessage.setStartControllers(array); end function stopcontrollers = get.StopControllers(obj) %get.StopControllers Get the value for property StopControllers javaArray = obj.JavaMessage.getStopControllers; array = obj.readJavaArray(javaArray, 'char'); stopcontrollers = arrayfun(@(x) char(x), array, 'UniformOutput', false); end function set.StopControllers(obj, stopcontrollers) %set.StopControllers Set the value for property StopControllers if ~isvector(stopcontrollers) && isempty(stopcontrollers) % Allow empty [] input stopcontrollers = cell.empty(0,1); end validateattributes(stopcontrollers, {'cell'}, {'vector'}, 'SwitchControllerGoal', 'StopControllers'); if any(cellfun(@(x) ~ischar(x), stopcontrollers)) error(message('robotics:ros:message:CellArrayStringError', ... 'stopcontrollers')); end javaArray = obj.JavaMessage.getStopControllers; array = obj.writeJavaArray(stopcontrollers, javaArray, 'char'); obj.JavaMessage.setStopControllers(array); 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.StartControllers = obj.StartControllers; cpObj.StopControllers = obj.StopControllers; end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.StartControllers = strObj.StartControllers; obj.StopControllers = strObj.StopControllers; 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.StartControllers = obj.StartControllers; strObj.StopControllers = obj.StopControllers; 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_mechanism_msgs.SwitchControllerGoal.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.pr2_mechanism_msgs.SwitchControllerGoal; obj.reload(strObj); end end end