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Beam Bots - The framework for resilient robotics.

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bb lib bb error kinematics unreachable.ex
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lib/bb/error/kinematics/unreachable.ex 

# SPDX-FileCopyrightText: 2025 James Harton

#

# SPDX-License-Identifier: Apache-2.0



defmodule BB.Error.Kinematics.Unreachable do

  @moduledoc """

  Target pose is outside the robot's workspace.



  Raised when the inverse kinematics solver determines that the

  target position cannot be reached by the robot.

  """

  use BB.Error,

    class: :kinematics,

    fields: [:target_link, :target_pose, :reason, :iterations, :residual, :positions]



  @type t :: %__MODULE__{

          target_link: atom(),

          target_pose: term(),

          reason: String.t() | nil,

          iterations: non_neg_integer() | nil,

          residual: float() | nil,

          positions: map() | nil

        }



  defimpl BB.Error.Severity do

    def severity(_), do: :error

  end



  def message(%{target_link: link, target_pose: pose, reason: reason}) do

    reason_str = if reason, do: " - #{reason}", else: ""

    "Target unreachable: cannot reach #{inspect(pose)} for link #{inspect(link)}#{reason_str}"

  end

end