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