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