www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+shape_msgs/Mesh.m
classdef Mesh < robotics.ros.Message %Mesh MATLAB implementation of shape_msgs/Mesh % This class was automatically generated by % robotics.ros.msg.internal.gen.MessageClassGenerator. % Copyright 2014-2016 The MathWorks, Inc. %#ok<*INUSD> properties (Constant) MessageType = 'shape_msgs/Mesh' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '1ffdae9486cd3316a121c578b47a85cc' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Constant, Access = protected) GeometryMsgsPointClass = robotics.ros.msg.internal.MessageFactory.getClassForType('geometry_msgs/Point') % Dispatch to MATLAB class for message type geometry_msgs/Point ShapeMsgsMeshTriangleClass = robotics.ros.msg.internal.MessageFactory.getClassForType('shape_msgs/MeshTriangle') % Dispatch to MATLAB class for message type shape_msgs/MeshTriangle end properties (Dependent) Triangles Vertices end properties (Access = protected) Cache = struct('Triangles', [], 'Vertices', []) % The cache for fast data access end properties (Constant, Hidden) PropertyList = {'Triangles', 'Vertices'} % List of non-constant message properties ROSPropertyList = {'triangles', 'vertices'} % List of non-constant ROS message properties end methods function obj = Mesh(msg) %Mesh Construct the message object Mesh 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 triangles = get.Triangles(obj) %get.Triangles Get the value for property Triangles if isempty(obj.Cache.Triangles) javaArray = obj.JavaMessage.getTriangles; array = obj.readJavaArray(javaArray, obj.ShapeMsgsMeshTriangleClass); obj.Cache.Triangles = feval(obj.ShapeMsgsMeshTriangleClass, array); end triangles = obj.Cache.Triangles; end function set.Triangles(obj, triangles) %set.Triangles Set the value for property Triangles if ~isvector(triangles) && isempty(triangles) % Allow empty [] input triangles = feval([obj.ShapeMsgsMeshTriangleClass '.empty'], 0, 1); end validateattributes(triangles, {obj.ShapeMsgsMeshTriangleClass}, {'vector'}, 'Mesh', 'Triangles'); javaArray = obj.JavaMessage.getTriangles; array = obj.writeJavaArray(triangles, javaArray, obj.ShapeMsgsMeshTriangleClass); obj.JavaMessage.setTriangles(array); % Update cache if necessary if ~isempty(obj.Cache.Triangles) obj.Cache.Triangles = []; obj.Cache.Triangles = obj.Triangles; end end function vertices = get.Vertices(obj) %get.Vertices Get the value for property Vertices if isempty(obj.Cache.Vertices) javaArray = obj.JavaMessage.getVertices; array = obj.readJavaArray(javaArray, obj.GeometryMsgsPointClass); obj.Cache.Vertices = feval(obj.GeometryMsgsPointClass, array); end vertices = obj.Cache.Vertices; end function set.Vertices(obj, vertices) %set.Vertices Set the value for property Vertices if ~isvector(vertices) && isempty(vertices) % Allow empty [] input vertices = feval([obj.GeometryMsgsPointClass '.empty'], 0, 1); end validateattributes(vertices, {obj.GeometryMsgsPointClass}, {'vector'}, 'Mesh', 'Vertices'); javaArray = obj.JavaMessage.getVertices; array = obj.writeJavaArray(vertices, javaArray, obj.GeometryMsgsPointClass); obj.JavaMessage.setVertices(array); % Update cache if necessary if ~isempty(obj.Cache.Vertices) obj.Cache.Vertices = []; obj.Cache.Vertices = obj.Vertices; end end end methods (Access = protected) function resetCache(obj) %resetCache Resets any cached properties obj.Cache.Triangles = []; obj.Cache.Vertices = []; 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.Triangles = copy(obj.Triangles); cpObj.Vertices = copy(obj.Vertices); end function reload(obj, strObj) %reload Called by loadobj to assign properties TrianglesCell = arrayfun(@(x) feval([obj.ShapeMsgsMeshTriangleClass '.loadobj'], x), strObj.Triangles, 'UniformOutput', false); obj.Triangles = vertcat(TrianglesCell{:}); VerticesCell = arrayfun(@(x) feval([obj.GeometryMsgsPointClass '.loadobj'], x), strObj.Vertices, 'UniformOutput', false); obj.Vertices = vertcat(VerticesCell{:}); 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.Triangles = arrayfun(@(x) saveobj(x), obj.Triangles); strObj.Vertices = arrayfun(@(x) saveobj(x), obj.Vertices); 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.shape_msgs.Mesh.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.shape_msgs.Mesh; obj.reload(strObj); end end end