# bb_ik_fabrik v0.8.0 - Table of Contents

> FABRIK-based inverse kinematics solver for Beam Bots.

## Pages

- [README](readme.md)
- [Change Log](changelog.md)

## Modules

- [BB.IK.FABRIK](BB.IK.FABRIK.md): FABRIK-based inverse kinematics solver for serial chains.
- [BB.IK.FABRIK.Math](BB.IK.FABRIK.Math.md): Pure Nx implementation of FABRIK, constrained to a robot's real joint axes.
- [BB.IK.FABRIK.Motion](BB.IK.FABRIK.Motion.md): Convenience functions for FABRIK-based motion.
- [BB.IK.FABRIK.Tracker](BB.IK.FABRIK.Tracker.md): GenServer implementing continuous position tracking with FABRIK.
- [BB.IK.TestHelpers.Chain](BB.IK.TestHelpers.Chain.md): Test helpers for creating chain point tensors.
- [BB.IK.TestRobots](BB.IK.TestRobots.md): Test robot definitions for IK solver testing.

- [BB.IK.TestRobots.ContinuousJointArm](BB.IK.TestRobots.ContinuousJointArm.md): Arm with continuous (unlimited rotation) joints.
- [BB.IK.TestRobots.FixedOnlyChain](BB.IK.TestRobots.FixedOnlyChain.md): A chain with only fixed joints - should fail with :no_dofs.
- [BB.IK.TestRobots.FloatingBaseArm](BB.IK.TestRobots.FloatingBaseArm.md): A 1-DOF gimbal on a fully free base, for solving a chain with six extra degrees
of freedom.
- [BB.IK.TestRobots.MockActuator](BB.IK.TestRobots.MockActuator.md): Minimal mock actuator for testing — a proper `BB.Actuator` callback module
that accepts commands and discards them.

- [BB.IK.TestRobots.PlanarBaseArm](BB.IK.TestRobots.PlanarBaseArm.md): A 2-DOF arm on a planar base, for solving chains that contain a multi-DoF joint.
- [BB.IK.TestRobots.PrismaticArm](BB.IK.TestRobots.PrismaticArm.md): Arm with a prismatic (linear) joint for testing prismatic IK.
- [BB.IK.TestRobots.SixDofArm](BB.IK.TestRobots.SixDofArm.md): 6-DOF anthropomorphic arm for testing orientation-constrained IK.
- [BB.IK.TestRobots.ThreeLinkArm](BB.IK.TestRobots.ThreeLinkArm.md): 3-DOF arm with vertical reach for testing 3D IK.
- [BB.IK.TestRobots.TwoLinkArm](BB.IK.TestRobots.TwoLinkArm.md): Simple 2-DOF planar arm for basic IK testing.

- Exceptions
  - [BB.Error.Kinematics.FABRIK.UnsupportedJoint](BB.Error.Kinematics.FABRIK.UnsupportedJoint.md): The requested chain contains a joint FABRIK cannot solve for.

## Mix Tasks

- [mix bb_ik_fabrik.install](Mix.Tasks.BbIkFabrik.Install.md): Installs BB.IK.FABRIK into a project