Encapsulates constructive mapping of SDF elements to a complete prefab with entities and components. More...

#include <URDFPrefabMaker.h>

Public Types
using	CreatePrefabTemplateResult = AZ::Outcome< AzToolsFramework::Prefab::TemplateId, AZStd::string >

Public Member Functions
	URDFPrefabMaker (const AZStd::string &modelFilePath, const sdf::Root *root, AZStd::string prefabPath, const AZStd::shared_ptr< Utils::UrdfAssetMap > sdfAssetsMapping, bool useArticulations=false, AZStd::optional< AZ::Transform > spawnPosition=AZStd::nullopt)

CreatePrefabTemplateResult	CreatePrefabFromUrdfOrSdf ()

CreatePrefabTemplateResult	CreatePrefabTemplateFromUrdfOrSdf ()

const AZStd::string &	GetPrefabPath () const

AZStd::string	GetStatus ()

Detailed Description

Encapsulates constructive mapping of SDF elements to a complete prefab with entities and components.

Member Typedef Documentation

◆ CreatePrefabTemplateResult

using ROS2::URDFPrefabMaker::CreatePrefabTemplateResult = AZ::Outcome<AzToolsFramework::Prefab::TemplateId, AZStd::string>

On prefab creation this will contain a prefab template id when successful, and an error string on failure.

Constructor & Destructor Documentation

◆ URDFPrefabMaker()

ROS2::URDFPrefabMaker::URDFPrefabMaker	(	const AZStd::string &	modelFilePath,
		const sdf::Root *	root,
		AZStd::string	prefabPath,
		const AZStd::shared_ptr< Utils::UrdfAssetMap >	sdfAssetsMapping,
		bool	useArticulations = `false`,
		AZStd::optional< AZ::Transform >	spawnPosition = `AZStd::nullopt`
	)

Construct PrefabMaker from arguments.

Parameters

modelFilePath	path to the source URDF/SDF model or world.
root	parsed SDF root object.
prefabPath	path to the prefab which will be created as a result of import.
urdfAssetsMapping	prepared mapping of SDF meshes to Assets.
useArticulations	allows sdfImporter to create PhysXArticulations instead of multiple rigid bodies and joints.

Member Function Documentation

◆ CreatePrefabFromUrdfOrSdf()

CreatePrefabTemplateResult ROS2::URDFPrefabMaker::CreatePrefabFromUrdfOrSdf ( )

Create and return a prefab template corresponding to the SDF model as set through the constructor. This will also instantiate the prefab template into the level.

Returns: result which is either the prefab template id containing the imported model or an error message.

◆ CreatePrefabTemplateFromUrdfOrSdf()

CreatePrefabTemplateResult ROS2::URDFPrefabMaker::CreatePrefabTemplateFromUrdfOrSdf ( )

Create and return a prefab template id corresponding to the URDF/SDF model/world set in the constructor.

Returns: result which is either the prefab template id or an error message.

◆ GetPrefabPath()

const AZStd::string & ROS2::URDFPrefabMaker::GetPrefabPath ( ) const

Get path to the prefab resulting from the import.

Returns: path to the prefab.

◆ GetStatus()

AZStd::string ROS2::URDFPrefabMaker::GetStatus ( )

Get descriptive status of import. A string with the status, which can be understood by the user.

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

Gems/ROS2/Code/Source/RobotImporter/URDF/URDFPrefabMaker.h

Public Types

Public Member Functions