BB.IK.TestRobots.ContinuousJointArm (bb_ik_dls v0.3.2)

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Arm with continuous (unlimited rotation) joints.

Structure:

  • base_link
    • wheel_joint (continuous, Z-axis) - can rotate infinitely
      • link1 (0.3m)
        • tip_joint (fixed, 0.2m)
          • tip

Continuous joints have no position limits.

Summary

Functions

child_spec(opts \\ [])

Returns a child specification for starting this robot under a supervisor.

robot()

Returns the optimised robot representation.

start_link(opts \\ [])

Starts the robot's supervision tree.

Functions

child_spec(opts \\ [])

@spec child_spec(Keyword.t()) :: Supervisor.child_spec()

Returns a child specification for starting this robot under a supervisor.

robot()

@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.IK.TestRobots.ContinuousJointArm.robot()
link = BB.Robot.get_link(robot, :base_link)
joint = BB.Robot.get_joint(robot, :shoulder)

start_link(opts \\ [])

@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.