A rover whose base moves in the ground plane, plus a revolute mast.
The :base joint is :planar with a vertical surface normal, so the chassis
has three degrees of freedom — two in-plane translations and yaw. The mast
above it is an ordinary revolute joint, which makes this a chain where a
multi-DoF joint and a single-DoF joint compose.
Summary
Functions
Returns a child specification for starting this robot under a supervisor.
Returns the optimised robot representation.
Starts the robot's supervision tree.
Functions
@spec child_spec(Keyword.t()) :: Supervisor.child_spec()
Returns a child specification for starting this robot under a supervisor.
@spec robot() :: BB.Robot.t()
Returns the optimised robot representation.
This struct is built at compile-time from the DSL definition and contains:
- All physical values converted to SI base units (floats)
- Flat maps for O(1) lookup of links, joints, sensors, and actuators
- Pre-computed topology metadata for efficient traversal
Examples
robot = Elixir.BB.ExampleRobots.PlanarRover.robot()
{:ok, link} = BB.Robot.get_link(robot, :base_link)
{:ok, joint} = BB.Robot.get_joint(robot, :shoulder)@spec start_link(Keyword.t()) :: Supervisor.on_start()
Starts the robot's supervision tree.
Options
All options are passed through to sensor and actuator child processes.