ROS2::CollidersMaker Class Reference

Populates a given entity with all the contents of the <collider> tag in robot description. More...

#include <CollidersMaker.h>

Public Member Functions
	CollidersMaker (const AZStd::shared_ptr< Utils::UrdfAssetMap > &sdfAssetsMapping)
	CollidersMaker (const CollidersMaker &other)=delete
	Prevent copying of existing CollidersMaker.
void	AddColliders (const sdf::Model &model, const sdf::Link *link, AZ::EntityId entityId)
void	ProcessMeshes (BuildReadyCallback notifyBuildReadyCb)

Detailed Description

Populates a given entity with all the contents of the <collider> tag in robot description.

Constructor & Destructor Documentation

CollidersMaker()

ROS2::CollidersMaker::CollidersMaker

(

const AZStd::shared_ptr< Utils::UrdfAssetMap > &

sdfAssetsMapping

)

Construct the class based on SDF asset mapping.

Parameters

sdfAssetsMapping

a prepared mapping of Assets used by the source URDF/SDF.

Member Function Documentation

AddColliders()

void ROS2::CollidersMaker::AddColliders	(	const sdf::Model &	model,
		const sdf::Link *	link,
		AZ::EntityId	entityId
	)

Add zero, one or many collider elements (depending on link content).

Parameters

model	An SDF model object provided by libsdformat from a parsed URDF/SDF
link	A parsed SDF tree link node which could hold information about colliders.
entityId	A non-active entity which will be affected.

ProcessMeshes()

void ROS2::CollidersMaker::ProcessMeshes

(

BuildReadyCallback

notifyBuildReadyCb

)

Sends meshes required for colliders to asset processor.

Parameters

buildReadyCb

Function to call when the processing finishes.

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The documentation for this class was generated from the following file:

• Gems/ROS2/Code/Source/RobotImporter/URDF/CollidersMaker.h