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

model	SDF model object which can be queried to locate the joints needed to determine if the supplied link is a child link within a joint
link	A pointer to a parsed SDF link.
entityId	A non-active entity which will be populated according to inertial content.

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/ArticulationsMaker.h