www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+msggen/+sr_robot_msgs/contrlr.m
classdef contrlr < robotics.ros.Message %contrlr MATLAB implementation of sr_robot_msgs/contrlr % 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/contrlr' % The ROS message type end properties (Constant, Hidden) MD5Checksum = '7b2aa60305c5a9ab0ff05803e4d2ab85' % The MD5 Checksum of the message definition end properties (Access = protected) JavaMessage % The Java message object end properties (Dependent) ContrlrName LengthOfList ListOfParameters end properties (Constant, Hidden) PropertyList = {'ContrlrName', 'LengthOfList', 'ListOfParameters'} % List of non-constant message properties ROSPropertyList = {'contrlr_name', 'length_of_list', 'list_of_parameters'} % List of non-constant ROS message properties end methods function obj = contrlr(msg) %contrlr Construct the message object contrlr 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 contrlrname = get.ContrlrName(obj) %get.ContrlrName Get the value for property ContrlrName contrlrname = char(obj.JavaMessage.getContrlrName); end function set.ContrlrName(obj, contrlrname) %set.ContrlrName Set the value for property ContrlrName validateattributes(contrlrname, {'char'}, {}, 'contrlr', 'ContrlrName'); obj.JavaMessage.setContrlrName(contrlrname); end function lengthoflist = get.LengthOfList(obj) %get.LengthOfList Get the value for property LengthOfList lengthoflist = typecast(int8(obj.JavaMessage.getLengthOfList), 'uint8'); end function set.LengthOfList(obj, lengthoflist) %set.LengthOfList Set the value for property LengthOfList validateattributes(lengthoflist, {'numeric'}, {'nonempty', 'scalar'}, 'contrlr', 'LengthOfList'); obj.JavaMessage.setLengthOfList(lengthoflist); end function listofparameters = get.ListOfParameters(obj) %get.ListOfParameters Get the value for property ListOfParameters javaArray = obj.JavaMessage.getListOfParameters; array = obj.readJavaArray(javaArray, 'char'); listofparameters = arrayfun(@(x) char(x), array, 'UniformOutput', false); end function set.ListOfParameters(obj, listofparameters) %set.ListOfParameters Set the value for property ListOfParameters if ~isvector(listofparameters) && isempty(listofparameters) % Allow empty [] input listofparameters = cell.empty(0,1); end validateattributes(listofparameters, {'cell'}, {'vector'}, 'contrlr', 'ListOfParameters'); if any(cellfun(@(x) ~ischar(x), listofparameters)) error(message('robotics:ros:message:CellArrayStringError', ... 'listofparameters')); end javaArray = obj.JavaMessage.getListOfParameters; array = obj.writeJavaArray(listofparameters, javaArray, 'char'); obj.JavaMessage.setListOfParameters(array); 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.ContrlrName = obj.ContrlrName; cpObj.LengthOfList = obj.LengthOfList; cpObj.ListOfParameters = obj.ListOfParameters; end function reload(obj, strObj) %reload Called by loadobj to assign properties obj.ContrlrName = strObj.ContrlrName; obj.LengthOfList = strObj.LengthOfList; obj.ListOfParameters = strObj.ListOfParameters; 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.ContrlrName = obj.ContrlrName; strObj.LengthOfList = obj.LengthOfList; strObj.ListOfParameters = obj.ListOfParameters; 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.contrlr.empty(0,1); return end % Create an empty message object obj = robotics.ros.msggen.sr_robot_msgs.contrlr; obj.reload(strObj); end end end