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lib/bb/error/kinematics/no_solution.ex
# SPDX-FileCopyrightText: 2025 James Harton
#
# SPDX-License-Identifier: Apache-2.0
defmodule BB.Error.Kinematics.NoSolution do
@moduledoc """
Inverse kinematics solver failed to converge.
Raised when the IK solver cannot find a solution within the
maximum number of iterations.
"""
use BB.Error,
class: :kinematics,
fields: [:target_link, :target_pose, :iterations, :residual, :positions]
@type t :: %__MODULE__{
target_link: atom(),
target_pose: term(),
iterations: non_neg_integer(),
residual: float(),
positions: map() | nil
}
defimpl BB.Error.Severity do
def severity(_), do: :error
end
def message(%{target_link: link, iterations: iters, residual: residual}) do
"IK solver failed: no solution found for #{inspect(link)} " <>
"after #{iters} iterations (residual: #{Float.round(residual || 0.0, 6)})"
end
end