www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+r2_msgs/JointStatusArray.m
classdef JointStatusArray < robotics.ros.Message %JointStatusArray MATLAB implementation of r2_msgs/JointStatusArray % 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/JointStatusArray' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '2d3e86cb77e5d92be1bdb178712b3811' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) R2MsgsJointStatusClass = robotics.ros.msg.internal.MessageFactory.getClassForType('r2_msgs/JointStatus') % Dispatch to MATLAB class for message type r2_msgs/JointStatus StdMsgsHeaderClass = robotics.ros.msg.internal.MessageFactory.getClassForType('std_msgs/Header') % Dispatch to MATLAB class for message type std_msgs/Header end properties (Dependent) Header Status end properties (Access = protected) Cache = struct('Header', [], 'Status', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Header', 'Status'} % List of non-constant message properties ROSPropertyList = {'header', 'status'} % List of non-constant ROS message properties end methods function obj = JointStatusArray(msg) %JointStatusArray Construct the message object JointStatusArray 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'}, 'JointStatusArray', 'Header'); obj.JavaMessage.setHeader(header.getJavaObject); % Update cache if necessary if ~isempty(obj.Cache.Header) obj.Cache.Header.setJavaObject(header.getJavaObject); end end function status = get.Status(obj) %get.Status Get the value for property Status if isempty(obj.Cache.Status) javaArray = obj.JavaMessage.getStatus; array = obj.readJavaArray(javaArray, obj.R2MsgsJointStatusClass); obj.Cache.Status = feval(obj.R2MsgsJointStatusClass, array); end status = obj.Cache.Status; end function set.Status(obj, status) %set.Status Set the value for property Status if ~isvector(status) && isempty(status) % Allow empty [] input status = feval([obj.R2MsgsJointStatusClass '.empty'], 0, 1); end validateattributes(status, {obj.R2MsgsJointStatusClass}, {'vector'}, 'JointStatusArray', 'Status'); javaArray = obj.JavaMessage.getStatus; array = obj.writeJavaArray(status, javaArray, obj.R2MsgsJointStatusClass); obj.JavaMessage.setStatus(array); % Update cache if necessary if ~isempty(obj.Cache.Status) obj.Cache.Status = []; obj.Cache.Status = obj.Status; end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Header = []; obj.Cache.Status = []; 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; % Recursively copy compound properties cpObj.Header = copy(obj.Header); cpObj.Status = copy(obj.Status); end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.Header = feval([obj.StdMsgsHeaderClass '.loadobj'], strObj.Header); StatusCell = arrayfun(@(x) feval([obj.R2MsgsJointStatusClass '.loadobj'], x), strObj.Status, 'UniformOutput', false); obj.Status = vertcat(StatusCell{:}); 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.Header = saveobj(obj.Header); strObj.Status = arrayfun(@(x) saveobj(x), obj.Status); 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.JointStatusArray.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.r2_msgs.JointStatusArray; obj.reload(strObj); end end end