ROS2::JointsMaker Class Reference

#include <JointsMaker.h>

Public Types
using	JointsMakerResult = AZ::Outcome< AZ::ComponentId, AZStd::string >

Public Member Functions
JointsMakerResult	AddJointComponent (const sdf::Joint *joint, AZ::EntityId followColliderEntityId, AZ::EntityId leadColliderEntityId) const

Detailed Description

Populates a given entity with all the contents of the <joint> tag in robot description. In URDF/SDF, joints are specified between two given links, but in PhysX they are between two Bodies / Colliders.

Member Function Documentation

AddJointComponent()

JointsMakerResult ROS2::JointsMaker::AddJointComponent	(	const sdf::Joint *	joint,
		AZ::EntityId	followColliderEntityId,
		AZ::EntityId	leadColliderEntityId
	)		const

Add a joint to an entity and sets it accordingly to sdf::Joint

Parameters

joint	Joint data
followColliderEntityId	A non-active entity which will be populated with Joint components.
leadColliderEntityId	An entity higher in hierarchy which is connected through the joint with the child entity.

Returns

created components Id or string with fail

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

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