Open 3D Engine ROS2 Gem API Reference  24.09
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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
jointJoint data
followColliderEntityIdA non-active entity which will be populated with Joint components.
leadColliderEntityIdAn entity higher in hierarchy which is connected through the joint with the child entity.
Returns
created components Id or string with fail
The documentation for this class was generated from the following file: