Open 3D Engine ROS2 Gem API Reference 24.09.2
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ROS2::ArticulationsMaker Class Reference

Populates the entity with contents of the <inertial> and <joint> tag in the robot description. More...

#include <ArticulationsMaker.h>

Public Types

using ArticulationsMakerResult = AZ::Outcome<AZ::ComponentId, AZStd::string>
 

Public Member Functions

ArticulationsMakerResult AddArticulationLink (const sdf::Model &model, const sdf::Link *link, AZ::EntityId entityId) const
 

Detailed Description

Populates the entity with contents of the <inertial> and <joint> tag in the robot description.

Member Function Documentation

◆ AddArticulationLink()

ArticulationsMakerResult ROS2::ArticulationsMaker::AddArticulationLink ( const sdf::Model & model,
const sdf::Link * link,
AZ::EntityId entityId ) const

Add zero or one inertial and joints elements to a given entity (depending on link content).

Parameters
modelSDF model object which can be queried to locate the joints needed to determine if the supplied link is a child link within a joint
linkA pointer to a parsed SDF link.
entityIdA non-active entity which will be populated according to inertial content.
Returns
created components Id or string with fail
The documentation for this class was generated from the following file: