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

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Robot is near or at a kinematic singularity.

Raised when the robot configuration is near a singular point where the Jacobian becomes ill-conditioned and motion control degrades.

Summary

Functions

exception(args)

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

Functions

exception(args)

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

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

Keys

  • :joint_positions
  • :manipulability
  • :threshold