Open 3D Engine ROS2 Gem API Reference  24.09
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Public Member Functions | Static Public Member Functions | List of all members
ROS2::JointsManipulationComponent Class Reference

#include <JointsManipulationComponent.h>

Inherits AZ::Component, AZ::TickBus::Handler, and JointsManipulationRequestBus::Handler.

Public Member Functions

 JointsManipulationComponent (const PublisherConfiguration &publisherConfiguration, const AZStd::vector< AZStd::pair< AZStd::string, float >> &initialPositions)
 
 AZ_COMPONENT (JointsManipulationComponent, "{3da9abfc-0028-4e3e-8d04-4e4440d2e319}", AZ::Component)
 
ManipulationJoints GetJoints () override
 
AZ::Outcome< JointPosition, AZStd::string > GetJointPosition (const AZStd::string &jointName) override
 
AZ::Outcome< JointVelocity, AZStd::string > GetJointVelocity (const AZStd::string &jointName) override
 
JointsPositionsMap GetAllJointsPositions () override
 
JointsVelocitiesMap GetAllJointsVelocities () override
 
AZ::Outcome< JointEffort, AZStd::string > GetJointEffort (const AZStd::string &jointName) override
 
JointsEffortsMap GetAllJointsEfforts () override
 
AZ::Outcome< void, AZStd::string > SetMaxJointEffort (const AZStd::string &jointName, JointEffort maxEffort)
 
AZ::Outcome< void, AZStd::string > MoveJointsToPositions (const JointsPositionsMap &positions) override
 
AZ::Outcome< void, AZStd::string > MoveJointToPosition (const AZStd::string &jointName, JointPosition position) override
 
void Stop () override
 

Static Public Member Functions

static void GetRequiredServices (AZ::ComponentDescriptor::DependencyArrayType &required)
 
static void GetProvidedServices (AZ::ComponentDescriptor::DependencyArrayType &provided)
 
static void GetIncompatibleServices (AZ::ComponentDescriptor::DependencyArrayType &incompatible)
 
static void Reflect (AZ::ReflectContext *context)
 

Detailed Description

Component responsible for controlling a hierarchical system of joints such as robotic arm with Articulations or Hinge Joints. This manipulator component uses simple joint position interface. For trajectory control, see JointsTrajectoryComponent.

Member Function Documentation

◆ GetAllJointsEfforts()

JointsEffortsMap ROS2::JointsManipulationComponent::GetAllJointsEfforts ( )
override
See also
ROS2::JointsManipulationRequestBus::GetAllJointsEfforts

◆ GetAllJointsPositions()

JointsPositionsMap ROS2::JointsManipulationComponent::GetAllJointsPositions ( )
override
See also
ROS2::JointsManipulationRequestBus::GetAllJointsPositions

◆ GetAllJointsVelocities()

JointsVelocitiesMap ROS2::JointsManipulationComponent::GetAllJointsVelocities ( )
override
See also
ROS2::JointsManipulationRequestBus::GetAllJointsVelocities

◆ GetJointEffort()

AZ::Outcome<JointEffort, AZStd::string> ROS2::JointsManipulationComponent::GetJointEffort ( const AZStd::string &  jointName)
override
See also
ROS2::JointsManipulationRequestBus::GetJointEffort

◆ GetJointPosition()

AZ::Outcome<JointPosition, AZStd::string> ROS2::JointsManipulationComponent::GetJointPosition ( const AZStd::string &  jointName)
override
See also
ROS2::JointsManipulationRequestBus::GetJointPosition

◆ GetJoints()

ManipulationJoints ROS2::JointsManipulationComponent::GetJoints ( )
override
See also
ROS2::JointsManipulationRequestBus::GetJoints

◆ GetJointVelocity()

AZ::Outcome<JointVelocity, AZStd::string> ROS2::JointsManipulationComponent::GetJointVelocity ( const AZStd::string &  jointName)
override
See also
ROS2::JointsManipulationRequestBus::GetJointVelocity

◆ MoveJointsToPositions()

AZ::Outcome<void, AZStd::string> ROS2::JointsManipulationComponent::MoveJointsToPositions ( const JointsPositionsMap &  positions)
override
See also
ROS2::JointsManipulationRequestBus::MoveJointsToPositions

◆ MoveJointToPosition()

AZ::Outcome<void, AZStd::string> ROS2::JointsManipulationComponent::MoveJointToPosition ( const AZStd::string &  jointName,
JointPosition  position 
)
override
See also
ROS2::JointsManipulationRequestBus::MoveJointToPosition

◆ SetMaxJointEffort()

AZ::Outcome<void, AZStd::string> ROS2::JointsManipulationComponent::SetMaxJointEffort ( const AZStd::string &  jointName,
JointEffort  maxEffort 
)
See also
ROS2::JointsManipulationRequestBus::SetMaxJointEffort

◆ Stop()

void ROS2::JointsManipulationComponent::Stop ( )
override
See also
ROS2::JointsManipulationRequestBus::Stop
The documentation for this class was generated from the following file: