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Beam Bots - The framework for resilient robotics.

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bb lib bb dsl axis.ex
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lib/bb/dsl/axis.ex 

# SPDX-FileCopyrightText: 2025 James Harton

#

# SPDX-License-Identifier: Apache-2.0



defmodule BB.Dsl.Axis do

  @moduledoc """

  Joint axis orientation specified as Euler angles.



  The axis defines the direction of rotation (for revolute joints) or

  translation (for prismatic joints). By default, the axis points along

  the Z direction. Use roll, pitch, and yaw to rotate it to the desired

  orientation.



  ## Examples



      # Default Z-axis (no rotation needed)

      axis do

      end



      # Y-axis (pitch by 90°)

      axis do

        pitch(~u(90 degree))

      end



      # X-axis (pitch by 90°, then roll by 90°)

      axis do

        pitch(~u(90 degree))

        roll(~u(90 degree))

      end

  """

  import BB.Unit



  defstruct __identifier__: nil,

            __spark_metadata__: nil,

            roll: ~u(0 degree),

            pitch: ~u(0 degree),

            yaw: ~u(0 degree)



  alias Spark.Dsl.Entity



  @type t :: %__MODULE__{

          __identifier__: any,

          __spark_metadata__: Entity.spark_meta(),

          roll: Localize.Unit.t(),

          pitch: Localize.Unit.t(),

          yaw: Localize.Unit.t()

        }

end