@spec configurations_type() :: {:custom, module(), atom(), list()}

Returns a Spark.Options type for a list of joint configurations.

A joint's configuration is shaped to its type, so the list is heterogeneous: a float for single-DoF joints, a BB.Math.Transform2D for :planar and a BB.Math.Transform for :floating.

This checks each element is one of those three, which is as much as a message can check — matching a particular joint's type needs the robot, which the message does not carry. BB.Robot.State.set_configuration/3 is what rejects a shape that doesn't match its joint.

Examples

iex> BB.Message.Option.configurations_type()
{:custom, BB.Message.Option, :validate_configurations, [[]]}

@spec covariance3_type() :: {:custom, module(), atom(), list()}

Returns a Spark.Options type for validating BB.Math.Covariance3.t().

Examples

iex> BB.Message.Option.covariance3_type()
{:custom, BB.Message.Option, :validate_covariance3, [[]]}

@spec covariance6_type() :: {:custom, module(), atom(), list()}

Returns a Spark.Options type for validating BB.Math.Covariance6.t().

Examples

iex> BB.Message.Option.covariance6_type()
{:custom, BB.Message.Option, :validate_covariance6, [[]]}

@spec efforts_type() :: {:custom, module(), atom(), list()}

Returns a Spark.Options type for a list of joint efforts.

As configurations_type/0, but the multi-DoF shapes are BB.Message.Geometry.Wrench2D and BB.Message.Geometry.Wrench.

Examples

iex> BB.Message.Option.efforts_type()
{:custom, BB.Message.Option, :validate_efforts, [[]]}

@spec quaternion_type() :: {:custom, module(), atom(), list()}

Returns a Spark.Options type for validating BB.Quaternion.t().

Examples

iex> BB.Message.Option.quaternion_type()
{:custom, BB.Message.Option, :validate_quaternion, [[]]}

@spec transform_type() :: {:custom, module(), atom(), list()}

Returns a Spark.Options type for validating BB.Math.Transform.t().

Examples

iex> BB.Message.Option.transform_type()
{:custom, BB.Message.Option, :validate_transform, [[]]}

@spec validate_configurations(
  term(),
  keyword()
) :: {:ok, list()} | {:error, String.t()}

Validates a list of joint configurations.

Examples

iex> BB.Message.Option.validate_configurations([0.5, BB.Math.Transform.identity()], [])
{:ok, [0.5, BB.Math.Transform.identity()]}

iex> BB.Message.Option.validate_configurations([:nope], [])
{:error,
 "expected element 0 to be a float, BB.Math.Transform2D.t() or BB.Math.Transform.t(), got: :nope"}

@spec validate_covariance3(
  term(),
  keyword()
) :: {:ok, BB.Math.Covariance3.t()} | {:error, String.t()}

Validates a BB.Math.Covariance3 struct.

@spec validate_covariance6(
  term(),
  keyword()
) :: {:ok, BB.Math.Covariance6.t()} | {:error, String.t()}

Validates a BB.Math.Covariance6 struct.

@spec validate_efforts(
  term(),
  keyword()
) :: {:ok, list()} | {:error, String.t()}

Validates a list of joint efforts.

@spec validate_quaternion(
  term(),
  keyword()
) :: {:ok, BB.Math.Quaternion.t()} | {:error, String.t()}

Validates a BB.Quaternion struct.

Examples

iex> BB.Message.Option.validate_quaternion(BB.Quaternion.identity(), [])
{:ok, %BB.Quaternion{}}

iex> BB.Message.Option.validate_quaternion("not a quaternion", [])
{:error, "expected BB.Quaternion.t(), got: \"not a quaternion\""}

@spec validate_transform(
  term(),
  keyword()
) :: {:ok, BB.Math.Transform.t()} | {:error, String.t()}

Validates a BB.Math.Transform struct.

Examples

iex> BB.Message.Option.validate_transform(BB.Math.Transform.identity(), [])
{:ok, %BB.Math.Transform{}}

iex> BB.Message.Option.validate_transform("not a transform", [])
{:error, "expected BB.Math.Transform.t(), got: \"not a transform\""}

@spec validate_vec3(
  term(),
  keyword()
) :: {:ok, BB.Math.Vec3.t()} | {:error, String.t()}

Validates a BB.Vec3 struct.

Examples

iex> BB.Message.Option.validate_vec3(BB.Vec3.new(1.0, 2.0, 3.0), [])
{:ok, %BB.Vec3{}}

iex> BB.Message.Option.validate_vec3("not a vec3", [])
{:error, "expected BB.Vec3.t(), got: \"not a vec3\""}

@spec validate_velocities(
  term(),
  keyword()
) :: {:ok, list()} | {:error, String.t()}

Validates a list of joint velocities.

@spec vec3_type() :: {:custom, module(), atom(), list()}

Returns a Spark.Options type for validating BB.Vec3.t().

Examples

iex> BB.Message.Option.vec3_type()
{:custom, BB.Message.Option, :validate_vec3, [[]]}

@spec velocities_type() :: {:custom, module(), atom(), list()}

Returns a Spark.Options type for a list of joint velocities.

As configurations_type/0, but the multi-DoF shapes are BB.Message.Geometry.Twist2D and BB.Message.Geometry.Twist.

Examples

iex> BB.Message.Option.velocities_type()
{:custom, BB.Message.Option, :validate_velocities, [[]]}