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

    classdef PoseCommandStatus < robotics.ros.Message
    %PoseCommandStatus MATLAB implementation of r2_msgs/PoseCommandStatus
    %   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/PoseCommandStatus' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = '82493b7735e3fe414b93381d96bfd1ee' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Constant)
        PENDING = uint8(0)
        ACTIVE = uint8(1)
        REJECTED = uint8(2)
        SUCCEEDED = uint8(3)
        FAILED = uint8(4)
    end
    
    properties (Constant, Access = protected)
        TimeClass = robotics.ros.msg.internal.MessageFactory.getClassForType('time') % Dispatch to MATLAB class for message type time
    end
    
    properties (Dependent)
        Stamp
        CommandId
        Status
        StatusMessage
    end
    
    properties (Access = protected)
        Cache = struct('Stamp', []) % The cache for fast data access
    end
    
    properties (Constant, Hidden)
        PropertyList = {'CommandId', 'Stamp', 'Status', 'StatusMessage'} % List of non-constant message properties
        ROSPropertyList = {'commandId', 'stamp', 'status', 'statusMessage'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = PoseCommandStatus(msg)
            %PoseCommandStatus Construct the message object PoseCommandStatus
            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 stamp = get.Stamp(obj)
            %get.Stamp Get the value for property Stamp
            if isempty(obj.Cache.Stamp)
                obj.Cache.Stamp = feval(obj.TimeClass, obj.JavaMessage.getStamp);
            end
            stamp = obj.Cache.Stamp;
        end
        
        function set.Stamp(obj, stamp)
            %set.Stamp Set the value for property Stamp
            validateattributes(stamp, {obj.TimeClass}, {'nonempty', 'scalar'}, 'PoseCommandStatus', 'Stamp');
            
            obj.JavaMessage.setStamp(stamp.getJavaObject);
            
            % Update cache if necessary
            if ~isempty(obj.Cache.Stamp)
                obj.Cache.Stamp.setJavaObject(stamp.getJavaObject);
            end
        end
        
        function commandid = get.CommandId(obj)
            %get.CommandId Get the value for property CommandId
            commandid = char(obj.JavaMessage.getCommandId);
        end
        
        function set.CommandId(obj, commandid)
            %set.CommandId Set the value for property CommandId
            validateattributes(commandid, {'char'}, {}, 'PoseCommandStatus', 'CommandId');
            
            obj.JavaMessage.setCommandId(commandid);
        end
        
        function status = get.Status(obj)
            %get.Status Get the value for property Status
            status = typecast(int8(obj.JavaMessage.getStatus), 'uint8');
        end
        
        function set.Status(obj, status)
            %set.Status Set the value for property Status
            validateattributes(status, {'numeric'}, {'nonempty', 'scalar'}, 'PoseCommandStatus', 'Status');
            
            obj.JavaMessage.setStatus(status);
        end
        
        function statusmessage = get.StatusMessage(obj)
            %get.StatusMessage Get the value for property StatusMessage
            statusmessage = char(obj.JavaMessage.getStatusMessage);
        end
        
        function set.StatusMessage(obj, statusmessage)
            %set.StatusMessage Set the value for property StatusMessage
            validateattributes(statusmessage, {'char'}, {}, 'PoseCommandStatus', 'StatusMessage');
            
            obj.JavaMessage.setStatusMessage(statusmessage);
        end
    end
    
    methods (Access = protected)
        function resetCache(obj)
            %resetCache Resets any cached properties
            obj.Cache.Stamp = [];
        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.CommandId = obj.CommandId;
            cpObj.Status = obj.Status;
            cpObj.StatusMessage = obj.StatusMessage;
            
            % Recursively copy compound properties
            cpObj.Stamp = copy(obj.Stamp);
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.CommandId = strObj.CommandId;
            obj.Status = strObj.Status;
            obj.StatusMessage = strObj.StatusMessage;
            obj.Stamp = feval([obj.TimeClass '.loadobj'], strObj.Stamp);
        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.CommandId = obj.CommandId;
            strObj.Status = obj.Status;
            strObj.StatusMessage = obj.StatusMessage;
            strObj.Stamp = saveobj(obj.Stamp);
        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.PoseCommandStatus.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.r2_msgs.PoseCommandStatus;
            obj.reload(strObj);
        end
    end
end