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

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Simple 2-DOF planar arm for basic IK testing.

Structure:

  • base_link
    • shoulder_joint (revolute, Z-axis)
      • link1 (0.3m long)
        • elbow_joint (revolute, Z-axis)
          • link2
            • tip_joint (fixed, 0.2m offset)
              • tip

Total reach: 0.5m from origin

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.TwoLinkArm.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.