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

    classdef MotorSystemControls < robotics.ros.Message
    %MotorSystemControls MATLAB implementation of sr_robot_msgs/MotorSystemControls
    %   This class was automatically generated by
    %   robotics.ros.msg.internal.gen.MessageClassGenerator.
    
    %   Copyright 2014-2016 The MathWorks, Inc.
    
    %#ok<*INUSD>
    
    properties (Constant)
        MessageType = 'sr_robot_msgs/MotorSystemControls' % The ROS message type
    end
    
    properties (Constant, Hidden)
        MD5Checksum = '0686822f46acfde0133711bd613a20f1' % The MD5 Checksum of the message definition
    end
    
    properties (Access = protected)
        JavaMessage % The Java message object
    end
    
    properties (Dependent)
        MotorId
        EnableBacklashCompensation
        IncreaseSglTracking
        DecreaseSglTracking
        IncreaseSgrTracking
        DecreaseSgrTracking
        InitiateJiggling
        WriteConfigToEeprom
    end
    
    properties (Constant, Hidden)
        PropertyList = {'DecreaseSglTracking', 'DecreaseSgrTracking', 'EnableBacklashCompensation', 'IncreaseSglTracking', 'IncreaseSgrTracking', 'InitiateJiggling', 'MotorId', 'WriteConfigToEeprom'} % List of non-constant message properties
        ROSPropertyList = {'decrease_sgl_tracking', 'decrease_sgr_tracking', 'enable_backlash_compensation', 'increase_sgl_tracking', 'increase_sgr_tracking', 'initiate_jiggling', 'motor_id', 'write_config_to_eeprom'} % List of non-constant ROS message properties
    end
    
    methods
        function obj = MotorSystemControls(msg)
            %MotorSystemControls Construct the message object MotorSystemControls
            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 motorid = get.MotorId(obj)
            %get.MotorId Get the value for property MotorId
            motorid = int8(obj.JavaMessage.getMotorId);
        end
        
        function set.MotorId(obj, motorid)
            %set.MotorId Set the value for property MotorId
            validateattributes(motorid, {'numeric'}, {'nonempty', 'scalar'}, 'MotorSystemControls', 'MotorId');
            
            obj.JavaMessage.setMotorId(motorid);
        end
        
        function enablebacklashcompensation = get.EnableBacklashCompensation(obj)
            %get.EnableBacklashCompensation Get the value for property EnableBacklashCompensation
            enablebacklashcompensation = logical(obj.JavaMessage.getEnableBacklashCompensation);
        end
        
        function set.EnableBacklashCompensation(obj, enablebacklashcompensation)
            %set.EnableBacklashCompensation Set the value for property EnableBacklashCompensation
            validateattributes(enablebacklashcompensation, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'MotorSystemControls', 'EnableBacklashCompensation');
            
            obj.JavaMessage.setEnableBacklashCompensation(enablebacklashcompensation);
        end
        
        function increasesgltracking = get.IncreaseSglTracking(obj)
            %get.IncreaseSglTracking Get the value for property IncreaseSglTracking
            increasesgltracking = logical(obj.JavaMessage.getIncreaseSglTracking);
        end
        
        function set.IncreaseSglTracking(obj, increasesgltracking)
            %set.IncreaseSglTracking Set the value for property IncreaseSglTracking
            validateattributes(increasesgltracking, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'MotorSystemControls', 'IncreaseSglTracking');
            
            obj.JavaMessage.setIncreaseSglTracking(increasesgltracking);
        end
        
        function decreasesgltracking = get.DecreaseSglTracking(obj)
            %get.DecreaseSglTracking Get the value for property DecreaseSglTracking
            decreasesgltracking = logical(obj.JavaMessage.getDecreaseSglTracking);
        end
        
        function set.DecreaseSglTracking(obj, decreasesgltracking)
            %set.DecreaseSglTracking Set the value for property DecreaseSglTracking
            validateattributes(decreasesgltracking, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'MotorSystemControls', 'DecreaseSglTracking');
            
            obj.JavaMessage.setDecreaseSglTracking(decreasesgltracking);
        end
        
        function increasesgrtracking = get.IncreaseSgrTracking(obj)
            %get.IncreaseSgrTracking Get the value for property IncreaseSgrTracking
            increasesgrtracking = logical(obj.JavaMessage.getIncreaseSgrTracking);
        end
        
        function set.IncreaseSgrTracking(obj, increasesgrtracking)
            %set.IncreaseSgrTracking Set the value for property IncreaseSgrTracking
            validateattributes(increasesgrtracking, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'MotorSystemControls', 'IncreaseSgrTracking');
            
            obj.JavaMessage.setIncreaseSgrTracking(increasesgrtracking);
        end
        
        function decreasesgrtracking = get.DecreaseSgrTracking(obj)
            %get.DecreaseSgrTracking Get the value for property DecreaseSgrTracking
            decreasesgrtracking = logical(obj.JavaMessage.getDecreaseSgrTracking);
        end
        
        function set.DecreaseSgrTracking(obj, decreasesgrtracking)
            %set.DecreaseSgrTracking Set the value for property DecreaseSgrTracking
            validateattributes(decreasesgrtracking, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'MotorSystemControls', 'DecreaseSgrTracking');
            
            obj.JavaMessage.setDecreaseSgrTracking(decreasesgrtracking);
        end
        
        function initiatejiggling = get.InitiateJiggling(obj)
            %get.InitiateJiggling Get the value for property InitiateJiggling
            initiatejiggling = logical(obj.JavaMessage.getInitiateJiggling);
        end
        
        function set.InitiateJiggling(obj, initiatejiggling)
            %set.InitiateJiggling Set the value for property InitiateJiggling
            validateattributes(initiatejiggling, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'MotorSystemControls', 'InitiateJiggling');
            
            obj.JavaMessage.setInitiateJiggling(initiatejiggling);
        end
        
        function writeconfigtoeeprom = get.WriteConfigToEeprom(obj)
            %get.WriteConfigToEeprom Get the value for property WriteConfigToEeprom
            writeconfigtoeeprom = logical(obj.JavaMessage.getWriteConfigToEeprom);
        end
        
        function set.WriteConfigToEeprom(obj, writeconfigtoeeprom)
            %set.WriteConfigToEeprom Set the value for property WriteConfigToEeprom
            validateattributes(writeconfigtoeeprom, {'logical', 'numeric'}, {'nonempty', 'scalar'}, 'MotorSystemControls', 'WriteConfigToEeprom');
            
            obj.JavaMessage.setWriteConfigToEeprom(writeconfigtoeeprom);
        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.MotorId = obj.MotorId;
            cpObj.EnableBacklashCompensation = obj.EnableBacklashCompensation;
            cpObj.IncreaseSglTracking = obj.IncreaseSglTracking;
            cpObj.DecreaseSglTracking = obj.DecreaseSglTracking;
            cpObj.IncreaseSgrTracking = obj.IncreaseSgrTracking;
            cpObj.DecreaseSgrTracking = obj.DecreaseSgrTracking;
            cpObj.InitiateJiggling = obj.InitiateJiggling;
            cpObj.WriteConfigToEeprom = obj.WriteConfigToEeprom;
        end
        
        function reload(obj, strObj)
            %reload Called by loadobj to assign properties
            obj.MotorId = strObj.MotorId;
            obj.EnableBacklashCompensation = strObj.EnableBacklashCompensation;
            obj.IncreaseSglTracking = strObj.IncreaseSglTracking;
            obj.DecreaseSglTracking = strObj.DecreaseSglTracking;
            obj.IncreaseSgrTracking = strObj.IncreaseSgrTracking;
            obj.DecreaseSgrTracking = strObj.DecreaseSgrTracking;
            obj.InitiateJiggling = strObj.InitiateJiggling;
            obj.WriteConfigToEeprom = strObj.WriteConfigToEeprom;
        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.MotorId = obj.MotorId;
            strObj.EnableBacklashCompensation = obj.EnableBacklashCompensation;
            strObj.IncreaseSglTracking = obj.IncreaseSglTracking;
            strObj.DecreaseSglTracking = obj.DecreaseSglTracking;
            strObj.IncreaseSgrTracking = obj.IncreaseSgrTracking;
            strObj.DecreaseSgrTracking = obj.DecreaseSgrTracking;
            strObj.InitiateJiggling = obj.InitiateJiggling;
            strObj.WriteConfigToEeprom = obj.WriteConfigToEeprom;
        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.sr_robot_msgs.MotorSystemControls.empty(0,1);
                return
            end
            
            % Create an empty message object
            obj = robotics.ros.msggen.sr_robot_msgs.MotorSystemControls;
            obj.reload(strObj);
        end
    end
end