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