BB.Error.Kinematics.SelfCollision exception (bb v0.15.0)

Motion would cause self-collision.

Raised when the planned motion trajectory would result in collision between robot links.

Summary

Functions

Create an Elixir.BB.Error.Kinematics.SelfCollision without raising it.

Functions

exception(args)

@spec exception(opts :: Keyword.t()) :: %BB.Error.Kinematics.SelfCollision{
  __exception__: true,
  bread_crumbs: term(),
  class: term(),
  joint_positions: term(),
  link_a: term(),
  link_b: term(),
  path: term(),
  splode: term(),
  stacktrace: term(),
  vars: term()
}

Create an Elixir.BB.Error.Kinematics.SelfCollision without raising it.

Keys

:link_a
:link_b
:joint_positions