ROS2::JointsManipulationRequests Class Reference

#include <JointsManipulationRequests.h>

Inherits AZ::EBusTraits.

Public Types
using	BusIdType = AZ::EntityId
using	JointsPositionsMap = AZStd::unordered_map< AZStd::string, JointPosition >
using	JointsVelocitiesMap = AZStd::unordered_map< AZStd::string, JointVelocity >
using	JointsEffortsMap = AZStd::unordered_map< AZStd::string, JointEffort >

Public Member Functions
virtual ManipulationJoints	GetJoints ()=0
virtual AZ::Outcome< JointPosition, AZStd::string >	GetJointPosition (const AZStd::string &jointName)=0
virtual AZ::Outcome< JointVelocity, AZStd::string >	GetJointVelocity (const AZStd::string &jointName)=0
virtual JointsPositionsMap	GetAllJointsPositions ()=0
virtual JointsVelocitiesMap	GetAllJointsVelocities ()=0
virtual AZ::Outcome< JointEffort, AZStd::string >	GetJointEffort (const AZStd::string &jointName)=0
virtual JointsEffortsMap	GetAllJointsEfforts ()=0
virtual AZ::Outcome< void, AZStd::string >	MoveJointsToPositions (const JointsPositionsMap &positions)=0
virtual AZ::Outcome< void, AZStd::string >	MoveJointToPosition (const AZStd::string &jointName, JointPosition position)=0
virtual AZ::Outcome< void, AZStd::string >	SetMaxJointEffort (const AZStd::string &jointName, JointEffort maxEffort)=0
virtual void	Stop ()=0
	Stop the joints movement in progress. It will keep the position in which it stopped.

Static Public Attributes
static constexpr AZ::EBusAddressPolicy	AddressPolicy = AZ::EBusAddressPolicy::ById

Detailed Description

Interface for general requests for joint systems such as manipulator arms. This interface supports only systems with joints or articulation links with a single degree of freedom (DOF) each.

Member Function Documentation

GetAllJointsEfforts()

virtual JointsEffortsMap ROS2::JointsManipulationRequests::GetAllJointsEfforts ( )

pure virtual

Return efforts of all single DOF joints.

Returns

a vector of all joints efforts or error message.

GetAllJointsPositions()

virtual JointsPositionsMap ROS2::JointsManipulationRequests::GetAllJointsPositions ( )

pure virtual

Return positions of all single DOF joints.

Returns

a vector of all joints relative positions in degree of motion range or error message.

GetAllJointsVelocities()

virtual JointsVelocitiesMap ROS2::JointsManipulationRequests::GetAllJointsVelocities ( )

pure virtual

Return velocities of all single DOF joints.

Returns

a vector of all joints velocities or error message.

GetJointEffort()

virtual AZ::Outcome<JointEffort, AZStd::string> ROS2::JointsManipulationRequests::GetJointEffort ( const AZStd::string &  jointName )

pure virtual

Get effort of a force-driven articulation link by name. If the joint is not an articulation link, or it's acceleration-driven, returns 0.

Parameters

jointName

name of the joint. Use names acquired from GetJoints() query.

Returns

outcome with effort if joint exists. If it does not exist or some other error happened, error message is returned.

GetJointPosition()

virtual AZ::Outcome<JointPosition, AZStd::string> ROS2::JointsManipulationRequests::GetJointPosition ( const AZStd::string &  jointName )

pure virtual

Get position of a joint by name. Works with hinge joints and articulation links.

Parameters

jointName

name of the joint. Use names acquired from GetJoints() query.

Returns

outcome with relative position in degree of motion range if joint exists. If it does not exist or some other error happened, error message is returned.

GetJoints()

virtual ManipulationJoints ROS2::JointsManipulationRequests::GetJoints ( )

pure virtual

Get all entity tree joints, including joint or articulation component hierarchy.

Returns

An unordered map of joint names to joint info structure.

Note

Only free joints are returned (no fixed ones).

GetJointVelocity()

virtual AZ::Outcome<JointVelocity, AZStd::string> ROS2::JointsManipulationRequests::GetJointVelocity ( const AZStd::string &  jointName )

pure virtual

Get velocity of a joint by name. Works with hinge joints and articulation links.

Parameters

jointName

name of the joint. Use names acquired from GetJoints() query.

Returns

outcome with velocity if joint exists. If it does not exist or some other error happened, error message is returned.

MoveJointsToPositions()

virtual AZ::Outcome<void, AZStd::string> ROS2::JointsManipulationRequests::MoveJointsToPositions ( const JointsPositionsMap &  positions )

pure virtual

Move specified joints into positions.

Parameters

new	positions for each named joint. Use names queried through GetJoints().

Returns

nothing on success, error message on failure.

Note

the movement is realized by a specific controller and not instant. The joints will then keep these positions.

MoveJointToPosition()

virtual AZ::Outcome<void, AZStd::string> ROS2::JointsManipulationRequests::MoveJointToPosition ( const AZStd::string &  jointName, JointPosition  position  )

pure virtual

Move a single joint into desired relative position.

Parameters

jointName	name of the joint. Use names acquired from GetJoints() query.
position	relative position in degree of motion range to achieve.

Returns

nothing on success, error message on failure.

Note

the movement is realized by a specific controller and not instant. The joints will then keep this position.

SetMaxJointEffort()

virtual AZ::Outcome<void, AZStd::string> ROS2::JointsManipulationRequests::SetMaxJointEffort ( const AZStd::string &  jointName, JointEffort  maxEffort  )

pure virtual

Set max effort of an articulation link by name. If the joint is not an articulation link, doesn't do anything

Parameters

jointName

name of the joint. Use names acquired from GetJoints() query.

Returns

outcome with effort if joint exists. If it does not exist or some other error happened, error message is returned.

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

• Gems/ROS2/Code/Include/ROS2/Manipulation/JointsManipulationRequests.h