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

A 2-DOF arm on a planar base, for solving chains that contain a multi-DoF joint.

Structure:

odom
- base (planar, Z surface normal) — three degrees of freedom
  - base_link
    - shoulder_joint (revolute, Z-axis)
      - link1
        elbow_joint (revolute, Z-axis, 0.25m out)
        link2
        tip_joint (fixed, 0.25m offset)
        tip

The arm alone reaches 0.5m from the base, so a target further out is only reachable by driving the base as well — which is what makes this a test of the planar joint rather than of the arm. Two revolute joints rather than one, so the arm's own workspace is a disc rather than a circle and a chain scoped below the base is still a solvable problem.

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.PlanarBaseArm.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.