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Beam Bots - The framework for resilient robotics.

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bb lib bb dsl joint.ex
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lib/bb/dsl/joint.ex 

# SPDX-FileCopyrightText: 2025 James Harton

#

# SPDX-License-Identifier: Apache-2.0



defmodule BB.Dsl.Joint do

  @moduledoc """

  A joint in the robot topology chain.

  """

  defstruct __identifier__: nil,

            __spark_metadata__: nil,

            name: nil,

            type: nil,

            origin: nil,

            axis: nil,

            link: nil,

            dynamics: nil,

            limit: nil,

            sensors: [],

            actuators: []



  alias BB.Dsl.{Actuator, Axis, Dynamics, Limit, Link, Origin, Sensor}

  alias Spark.Dsl.Entity



  @type t :: %__MODULE__{

          __identifier__: any,

          __spark_metadata__: Entity.spark_meta(),

          name: atom,

          type: :revolute | :continuous | :prismatic | :fixed | :floating | :planar,

          origin: nil | Origin.t(),

          axis: nil | Axis.t(),

          link: Link.t(),

          dynamics: nil | Dynamics.t(),

          limit: nil | Limit.t(),

          sensors: [Sensor.t()],

          actuators: [Actuator.t()]

        }

end