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::JointsTrajectoryRequests Class Referenceabstract

Interface for commanding a system of joints such as robotic arm (manipulator) through FollowJointTrajectory actions. More...

#include <JointsTrajectoryRequests.h>

Inherits AZ::EBusTraits.

Public Types

enum class  TrajectoryActionStatus { Idle , Executing , Cancelled , Succeeded }
 Status of trajectory action. More...
 
using BusIdType = AZ::EntityId
 
using TrajectoryGoal = control_msgs::action::FollowJointTrajectory::Goal
 
using TrajectoryGoalPtr = std::shared_ptr< const TrajectoryGoal >
 
using TrajectoryResult = control_msgs::action::FollowJointTrajectory::Result
 
using TrajectoryResultPtr = std::shared_ptr< control_msgs::action::FollowJointTrajectory::Result >
 

Public Member Functions

virtual AZ::Outcome< void, TrajectoryResult > StartTrajectoryGoal (TrajectoryGoalPtr trajectoryGoal)=0
 
virtual AZ::Outcome< void, AZStd::string > CancelTrajectoryGoal ()=0
 
virtual TrajectoryActionStatus GetGoalStatus ()=0
 

Static Public Attributes

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

Detailed Description

Interface for commanding a system of joints such as robotic arm (manipulator) through FollowJointTrajectory actions.

Member Enumeration Documentation

◆ TrajectoryActionStatus

enum ROS2::JointsTrajectoryRequests::TrajectoryActionStatus
strong

Status of trajectory action.

Enumerator
Idle 

No action has been ordered yet.

Executing 

Ongoing trajectory goal.

Cancelled 

Cancelled goal, either by the client user or simulation side.

Succeeded 

Goal reached.

Member Function Documentation

◆ CancelTrajectoryGoal()

virtual AZ::Outcome<void, AZStd::string> ROS2::JointsTrajectoryRequests::CancelTrajectoryGoal ( )
pure virtual

Cancel current trajectory goal.

Parameters
resultResult of trajectory goal with explanation on why it was cancelled.
Returns
nothing on success, error if the goal could not be cancelled.

◆ GetGoalStatus()

virtual TrajectoryActionStatus ROS2::JointsTrajectoryRequests::GetGoalStatus ( )
pure virtual

Retrieve current trajectory goal status.

Returns
Status of trajectory goal.

◆ StartTrajectoryGoal()

virtual AZ::Outcome<void, TrajectoryResult> ROS2::JointsTrajectoryRequests::StartTrajectoryGoal ( TrajectoryGoalPtr  trajectoryGoal)
pure virtual

Validate and, if validation is successful, start a trajectory goal.

Parameters
trajectoryGoalSpecified trajectory including points with timing and tolerances.
Returns
Nothing on success, error message if failed.
Note
The call will return an error if the goal trajectory mismatches joints system.
The documentation for this class was generated from the following file: