www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+pr2_precise_trajectory/MoveSequenceGoal.m
classdef MoveSequenceGoal < robotics.ros.Message %MoveSequenceGoal MATLAB implementation of pr2_precise_trajectory/MoveSequenceGoal % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'pr2_precise_trajectory/MoveSequenceGoal' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '973bb148ba385e78971e34ca777c5ab7' % 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 StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header end properties (Dependent) Header Poses Times end properties (Access = protected) Cache = struct('Header', [], 'Poses', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Header', 'Poses', 'Times'} % List of non-constant message properties ROSPropertyList = {'header', 'poses', 'times'} % List of non-constant ROS message properties end methods function obj = MoveSequenceGoal(msg) %MoveSequenceGoal Construct the message object MoveSequenceGoal 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 header = get.Header(obj) %get.Header Get the value for property Header if isempty(obj.Cache.Header) obj.Cache.Header = feval(obj.StdMsgsHeaderClass, obj.JavaMessage.getHeader); end header = obj.Cache.Header; end function set.Header(obj, header) %set.Header Set the value for property Header validateattributes(header, {obj.StdMsgsHeaderClass}, {'nonempty', 'scalar'}, 'MoveSequenceGoal', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function poses = get.Poses(obj) %get.Poses Get the value for property Poses if isempty(obj.Cache.Poses) javaArray = obj.JavaMessage.getPoses; array = obj.readJavaArray(javaArray, obj.GeometryMsgsPoseClass); obj.Cache.Poses = feval(obj.GeometryMsgsPoseClass, array); end poses = obj.Cache.Poses; end function set.Poses(obj, poses) %set.Poses Set the value for property Poses if ~isvector(poses) && isempty(poses) % Allow empty [] input poses = feval([obj.GeometryMsgsPoseClass '.empty'], 0, 1); end validateattributes(poses, {obj.GeometryMsgsPoseClass}, {'vector'}, 'MoveSequenceGoal', 'Poses'); javaArray = obj.JavaMessage.getPoses; array = obj.writeJavaArray(poses, javaArray, obj.GeometryMsgsPoseClass); obj.JavaMessage.setPoses(array); % Update cache if necessary if ~isempty(obj.Cache.Poses) obj.Cache.Poses = []; obj.Cache.Poses = obj.Poses; end end function times = get.Times(obj) %get.Times Get the value for property Times javaArray = obj.JavaMessage.getTimes; array = obj.readJavaArray(javaArray, 'single'); times = single(array); end function set.Times(obj, times) %set.Times Set the value for property Times if ~isvector(times) && isempty(times) % Allow empty [] input times = single.empty(0,1); end validateattributes(times, {'numeric'}, {'vector'}, 'MoveSequenceGoal', 'Times'); javaArray = obj.JavaMessage.getTimes; array = obj.writeJavaArray(times, javaArray, 'single'); obj.JavaMessage.setTimes(array); end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Header = []; obj.Cache.Poses = []; 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.Times = obj.Times; % Recursively copy compound properties cpObj.Header = copy(obj.Header); cpObj.Poses = copy(obj.Poses); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Times = strObj.Times; obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header); PosesCell = arrayfun(@(x) feval([obj.GeometryMsgsPoseClass '.loadobj'], x), strObj.Poses, 'UniformOutput', false); obj.Poses = vertcat(PosesCell{:}); 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.Times = obj.Times; strObj.Header = saveobj(obj.Header); strObj.Poses = arrayfun(@(x) saveobj(x), obj.Poses); 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_precise_trajectory.MoveSequenceGoal.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.pr2_precise_trajectory.MoveSequenceGoal; obj.reload(strObj); end end end