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

Interface for controllers that execute the simple movement between two positions one step at a time. More...

#include <JointsPositionControllerRequests.h>

Inherits AZ::EBusTraits.

Public Types

using BusIdType = AZ::EntityId
 

Public Member Functions

virtual bool SupportsArticulation ()
 
virtual bool SupportsClassicJoints ()
 
virtual AZ::Outcome< void, AZStd::string > PositionControl (const AZStd::string &jointName, JointInfo joint, JointPosition currentPosition, JointPosition targetPosition, float deltaTime)=0
 

Static Public Attributes

static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::ById
 

Detailed Description

Interface for controllers that execute the simple movement between two positions one step at a time.

Member Function Documentation

◆ PositionControl()

virtual AZ::Outcome<void, AZStd::string> ROS2::JointsPositionControllerRequests::PositionControl ( const AZStd::string &  jointName,
JointInfo  joint,
JointPosition  currentPosition,
JointPosition  targetPosition,
float  deltaTime 
)
pure virtual

Control a joint through specification of its target position.

Parameters
jointNamename of the joint to move.
jointspecification of the joint.
currentPositioncurrent position of the joint.
targetPositiontarget position of the joint.
deltaTimehow much time elapsed in simulation the movement should represent.
Returns
nothing on success, error message if the command cannot be realize due to controller or entity configuration.

◆ SupportsArticulation()

virtual bool ROS2::JointsPositionControllerRequests::SupportsArticulation ( )
inlinevirtual

Whether the implementing controller component is based on articulations.

Returns
true if the controller works with articulations, false otherwise.

◆ SupportsClassicJoints()

virtual bool ROS2::JointsPositionControllerRequests::SupportsClassicJoints ( )
inlinevirtual

Whether the implementing controller component is based on articulations.

Returns
true if the controller works with classic joints, false otherwise.
The documentation for this class was generated from the following file: