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

Copy Markdown View Source

Arm with a prismatic (linear) joint for testing prismatic IK.

Structure:

  • base_link
    • rotate_joint (revolute, Z-axis)
      • link1
        • slide_joint (prismatic, X-axis, 0-0.3m range)
          • link2
            • tip_joint (fixed)
              • tip

The prismatic joint allows linear extension along X.

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.PrismaticArm.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.