# bb_ik_fabrik v0.3.2 - Table of Contents

> FABRIK-based inverse kinematics solver for Beam Bots.

## Pages

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

## Modules

- [BB.IK.FABRIK](BB.IK.FABRIK.md): FABRIK-based inverse kinematics solver for serial chains.
- [BB.IK.FABRIK.Math](BB.IK.FABRIK.Math.md): Pure Nx implementation of the FABRIK algorithm.
- [BB.IK.FABRIK.Motion](BB.IK.FABRIK.Motion.md): Convenience functions for FABRIK-based motion.
- [BB.IK.FABRIK.Tracker](BB.IK.FABRIK.Tracker.md): GenServer implementing continuous position tracking with FABRIK.
- [BB.IK.TestHelpers.Chain](BB.IK.TestHelpers.Chain.md): Test helpers for creating chain point tensors.
- [BB.IK.TestRobots](BB.IK.TestRobots.md): Test robot definitions for IK solver testing.

- [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.MockActuator](BB.IK.TestRobots.MockActuator.md): Minimal mock actuator for testing.

- [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.

