ROS2Controllers::JointsManipulationComponent Class Reference

#include <JointsManipulationComponent.h>

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

Public Member Functions
	JointsManipulationComponent (const ROS2::PublisherConfiguration &publisherConfiguration, const AZStd::vector< AZStd::pair< AZStd::string, float > > &initialPositions)
	AZ_COMPONENT (JointsManipulationComponent, JointsManipulationComponentTypeId, 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 ROS2Controllers::JointsManipulationComponent::GetAllJointsEfforts ( )

override

See also

ROS2::JointsManipulationRequestBus::GetAllJointsEfforts

GetAllJointsPositions()

JointsPositionsMap ROS2Controllers::JointsManipulationComponent::GetAllJointsPositions ( )

override

See also

ROS2::JointsManipulationRequestBus::GetAllJointsPositions

GetAllJointsVelocities()

JointsVelocitiesMap ROS2Controllers::JointsManipulationComponent::GetAllJointsVelocities ( )

override

See also

ROS2::JointsManipulationRequestBus::GetAllJointsVelocities

GetJointEffort()

AZ::Outcome< JointEffort, AZStd::string > ROS2Controllers::JointsManipulationComponent::GetJointEffort ( const AZStd::string &  jointName )

override

See also

ROS2::JointsManipulationRequestBus::GetJointEffort

GetJointPosition()

AZ::Outcome< JointPosition, AZStd::string > ROS2Controllers::JointsManipulationComponent::GetJointPosition ( const AZStd::string &  jointName )

override

See also

ROS2::JointsManipulationRequestBus::GetJointPosition

GetJoints()

ManipulationJoints ROS2Controllers::JointsManipulationComponent::GetJoints ( )

override

See also

ROS2::JointsManipulationRequestBus::GetJoints

GetJointVelocity()

AZ::Outcome< JointVelocity, AZStd::string > ROS2Controllers::JointsManipulationComponent::GetJointVelocity ( const AZStd::string &  jointName )

override

See also

ROS2::JointsManipulationRequestBus::GetJointVelocity

MoveJointsToPositions()

AZ::Outcome< void, AZStd::string > ROS2Controllers::JointsManipulationComponent::MoveJointsToPositions ( const JointsPositionsMap &  positions )

override

See also

ROS2::JointsManipulationRequestBus::MoveJointsToPositions

MoveJointToPosition()

AZ::Outcome< void, AZStd::string > ROS2Controllers::JointsManipulationComponent::MoveJointToPosition ( const AZStd::string &  jointName, JointPosition  position  )

override

See also

ROS2::JointsManipulationRequestBus::MoveJointToPosition

SetMaxJointEffort()

AZ::Outcome< void, AZStd::string > ROS2Controllers::JointsManipulationComponent::SetMaxJointEffort	(	const AZStd::string &	jointName,
		JointEffort	maxEffort
	)

See also

ROS2::JointsManipulationRequestBus::SetMaxJointEffort

Stop()

void ROS2Controllers::JointsManipulationComponent::Stop ( )

override

See also

ROS2::JointsManipulationRequestBus::Stop

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

• Gems/ROS2Controllers/Code/Source/Manipulation/JointsManipulationComponent.h