www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+r2_msgs/Gains.m

    classdef Gains < robotics.ros.Message
    %Gains MATLAB implementation of r2_msgs/Gains
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'r2_msgs/Gains' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = '689bcaebe3b1d4a08d9dd0ca1971d522' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Dependent)
        JointNames
        K
        D
    end
    
    properties (Constant, Hidden)
        PropertyList = {'D', 'JointNames', 'K'} % List of non-constant message properties
        ROSPropertyList = {'D', 'joint_names', 'K'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = Gains(msg)
            %Gains Construct the message object Gains
            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 jointnames = get.JointNames(obj)
            %get.JointNames Get the value for property JointNames
            javaArray = obj.JavaMessage.getJointNames;
            array = obj.readJavaArray(javaArray, 'char');
            jointnames = arrayfun(@(x) char(x), array, 'UniformOutput', false);
        end
        
        function set.JointNames(obj, jointnames)
            %set.JointNames Set the value for property JointNames
            if ~isvector(jointnames) && isempty(jointnames)
                % Allow empty [] input
                jointnames = cell.empty(0,1);
            end
            
            validateattributes(jointnames, {'cell'}, {'vector'}, 'Gains', 'JointNames');
            if any(cellfun(@(x) ~ischar(x), jointnames))
                error(message('robotics:ros:message:CellArrayStringError', ...
                    'jointnames'));
            end
            
            javaArray = obj.JavaMessage.getJointNames;
            array = obj.writeJavaArray(jointnames, javaArray, 'char');
            obj.JavaMessage.setJointNames(array);
        end
        
        function k = get.K(obj)
            %get.K Get the value for property K
            javaArray = obj.JavaMessage.getK;
            array = obj.readJavaArray(javaArray, 'double');
            k = double(array);
        end
        
        function set.K(obj, k)
            %set.K Set the value for property K
            if ~isvector(k) && isempty(k)
                % Allow empty [] input
                k = double.empty(0,1);
            end
            
            validateattributes(k, {'numeric'}, {'vector'}, 'Gains', 'K');
            
            javaArray = obj.JavaMessage.getK;
            array = obj.writeJavaArray(k, javaArray, 'double');
            obj.JavaMessage.setK(array);
        end
        
        function d = get.D(obj)
            %get.D Get the value for property D
            javaArray = obj.JavaMessage.getD;
            array = obj.readJavaArray(javaArray, 'double');
            d = double(array);
        end
        
        function set.D(obj, d)
            %set.D Set the value for property D
            if ~isvector(d) && isempty(d)
                % Allow empty [] input
                d = double.empty(0,1);
            end
            
            validateattributes(d, {'numeric'}, {'vector'}, 'Gains', 'D');
            
            javaArray = obj.JavaMessage.getD;
            array = obj.writeJavaArray(d, javaArray, 'double');
            obj.JavaMessage.setD(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.JointNames = obj.JointNames;
            cpObj.K = obj.K;
            cpObj.D = obj.D;
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.JointNames = strObj.JointNames;
            obj.K = strObj.K;
            obj.D = strObj.D;
        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.JointNames = obj.JointNames;
            strObj.K = obj.K;
            strObj.D = obj.D;
        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.r2_msgs.Gains.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.r2_msgs.Gains;
            obj.reload(strObj);
        end
    end
end