Expand description
Canonical immutable runtime robot model.
The model is constructed by source/build tooling or decoded from the
validated runtime bundle; its wire shape is owned by phoxal-bundle.
§Paths
Concepts live in the module that owns them: asset, builder,
component, identity, robot, simulation, structure.
The crate root is a deliberate facade over the handful of names a consumer
meets first, so that loading, reading or composing a robot does not require
learning the module layout. Those names - and the error vocabulary, whose
module is private precisely so the root is its only path - are the canonical
ones; write phoxal_model::Robot, not phoxal_model::robot::Robot.
Everything else is named through its owning module.
Modules inside this crate import from the owning module, never through this facade.
Re-exports§
pub use asset::AssetId;pub use builder::RobotBuilder;pub use component::capability::CapabilityRole;pub use footprint::FootprintEnvelope;pub use robot::Robot;
Modules§
- asset
- Canonical logical asset identities.
- builder
- Compose a canonical
Robotprogrammatically. - component
- Canonical component facts used after authored documents are loaded.
- footprint
- The stock safety footprint compiled from canonical collision geometry.
- identity
- Validated canonical identifiers and the token grammar they share.
- robot
- Canonical immutable robot model.
- simulation
- Canonical simulation facts used after authored documents are loaded.
- structure
- Canonical normalized structure facts.
Enums§
- Clock
- The time domain one compiled robot executes in.
- Identifier
Kind - What a rejected identifier was being used to name.
- Joint
Owner - Which structure a rejected joint belongs to.
- Kinematic
Scalar Field - Which kinematic dimension was rejected.
- Link
Role - Which end of a joint named a missing link.
- Model
Error - A canonical robot model that violates the runtime model’s invariants.
- Motion
Limit Field - Which motion limit was rejected.
- Pose
Owner - Which pose in the structure was rejected.
- Structure
Error - A canonical structure that violates the structural invariants.