BB.IK.TestRobots.FloatingBaseArm (bb_ik_dls v0.5.0)

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A 1-DOF gimbal on a fully free base, for solving a chain with six extra degrees of freedom.

Structure:

  • world
    • base (floating) — six degrees of freedom
      • airframe
        • gimbal (revolute, X-axis)
          • camera (0.1m offset)

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.FloatingBaseArm.robot()
{:ok, link} = BB.Robot.get_link(robot, :base_link)
{:ok, 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.