# bb_ik_dls v0.3.3 - Table of Contents

> DLS-based inverse kinematics solver for Beam Bots.

## Pages

- [README](readme.md)
- [Change Log](changelog.md)

## Modules

- [BB.IK.DLS](BB.IK.DLS.md): Damped Least Squares (Levenberg-Marquardt) inverse kinematics solver.
- [BB.IK.DLS.Algorithm](BB.IK.DLS.Algorithm.md): Core Damped Least Squares iteration algorithm.
- [BB.IK.DLS.Jacobian](BB.IK.DLS.Jacobian.md): Numerical Jacobian computation for inverse kinematics.
- [BB.IK.DLS.Motion](BB.IK.DLS.Motion.md): Convenience functions for DLS-based motion.
- [BB.IK.DLS.Tracker](BB.IK.DLS.Tracker.md): GenServer implementing continuous position tracking with DLS.
- [BB.IK.TestRobots](BB.IK.TestRobots.md): Test robot definitions for IK solver testing.

- [BB.IK.TestRobots.CollisionArm](BB.IK.TestRobots.CollisionArm.md): 2-DOF arm with collision geometry for testing collision-aware IK.
- [BB.IK.TestRobots.ContinuousJointArm](BB.IK.TestRobots.ContinuousJointArm.md): Arm with continuous (unlimited rotation) joints.
- [BB.IK.TestRobots.FixedOnlyChain](BB.IK.TestRobots.FixedOnlyChain.md): A chain with only fixed joints - should fail with :no_dofs.
- [BB.IK.TestRobots.PrismaticArm](BB.IK.TestRobots.PrismaticArm.md): Arm with a prismatic (linear) joint for testing prismatic IK.
- [BB.IK.TestRobots.SixDofArm](BB.IK.TestRobots.SixDofArm.md): 6-DOF anthropomorphic arm for testing orientation-constrained IK.
- [BB.IK.TestRobots.ThreeLinkArm](BB.IK.TestRobots.ThreeLinkArm.md): 3-DOF arm with vertical reach for testing 3D IK.
- [BB.IK.TestRobots.TwoLinkArm](BB.IK.TestRobots.TwoLinkArm.md): Simple 2-DOF planar arm for basic IK testing.

