How to make a method a global variable in a class?

Question

Farzad Torabi 2022-11-25

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1863163-how-to-make-a-method-a-global-variable-in-a-class

评论： Matt J 2022-11-28

Hi All

I have to define an object, that calls a method, to connect Matlab to another software. When I define it in Matlab, I do it under one function but I have to use it also under another function in that class. but I get the error that dot indexing is not allowed.

classdef VrepConnectorZMQ
    properties(Access = public)
        sim;				%Similar to fd
        client;			%Used for server connection and server requests
        robot_joints = []	%List of joint handles
        		%Integration step used for simulation
        joint_pos=[];
    end
    methods(Access = public)
        function obj = VrepConnectorZMQ()
            addpath("C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\zmqRemoteApi\clients\matlab")
            javaaddpath('C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\zmqRemoteApi\clients\matlab\jeromq.jar')
%             addpath vrep_lib/;						%Adding the APIs to the path
            client = RemoteAPIClient();
            client.setStepping(true);
            
            obj.sim = client.getObject('sim');			%RemoteAPI object
            obj.sim.startSimulation()
            
            for i = 1:7 
                obj.robot_joints(i) = obj.sim.getObject(strcat('/LBR_iiwa_14_R820_joint',int2str(i)));
            end
        
            for i = 1:7
                obj.joint_pos(i) = obj.sim.getJointTargetPosition(obj.robot_joints(i));
            end
            
            % When simulation is not running, ZMQ message handling could be a bit
            % slow, since the idle loop runs at 8 Hz by default. So let's make
            % sure that the idle loop runs at full speed for this program:
%             defaultIdleFps = sim.getInt32Param(sim.intparam_idle_fps);
%             sim.setInt32Param(sim.intparam_idle_fps, 0);
        end

and the other function under this class is :

        function ApplyControl(obj, u,steptime)
            
            startTime = obj.sim.getSimulationTime();
            t = startTime;
            while t<steptime
                obj.client.step();
                for i = 1:7
                    obj.sim.setJointTargetVelocity(obj.robot_joints(i), u(i));                    
                end
                t = obj.sim.getSimulationTime();
                %             for i = 1:(delta_t/obj.step_time_vrep)				%Number of integrations in delta_t
                %                 obj.sim.simxSynchronousTrigger(obj.clientID);	%Triggering the integration
                %                 % To overcome delay in values according to (Remote API modus operandi) document  
                %             end
                %             obj.sim.simxGetPingTime(obj.clientID);				%Synchronizing
                
            end