#include <bullet_solver.h>

Public Member Functions
void	bulletModelPub (const geometry_msgs::TransformStamped &odom2pitch, const ros::Time &time)

	BulletSolver (ros::NodeHandle &controller_nh)

double	getGimbalError (geometry_msgs::Point pos, geometry_msgs::Vector3 vel, double yaw, double v_yaw, double r1, double r2, double dz, int armors_num, double yaw_real, double pitch_real, double bullet_speed)

double	getPitch () const

double	getResistanceCoefficient (double bullet_speed) const

void	getSelectedArmorPosAndVel (geometry_msgs::Point &armor_pos, geometry_msgs::Vector3 &armor_vel, geometry_msgs::Point pos, geometry_msgs::Vector3 vel, double yaw, double v_yaw, double r1, double r2, double dz, int armors_num)

double	getYaw () const

void	identifiedTargetChangeCB (const std_msgs::BoolConstPtr &msg)

void	judgeShootBeforehand (const ros::Time &time, double v_yaw)

void	reconfigCB (rm_gimbal_controllers::BulletSolverConfig &config, uint32_t)

bool	solve (geometry_msgs::Point pos, geometry_msgs::Vector3 vel, double bullet_speed, double yaw, double v_yaw, double r1, double r2, double dz, int armors_num, double chassis_angular_vel_z)

	~BulletSolver ()=default

Private Attributes
double	bullet_speed_ {}

Config	config_ {}

realtime_tools::RealtimeBuffer< Config >	config_rt_buffer_

int	count_

dynamic_reconfigure::Server< rm_gimbal_controllers::BulletSolverConfig > *	d_srv_ {}

bool	dynamic_reconfig_initialized_ {}

double	fly_time_

std::shared_ptr< realtime_tools::RealtimePublisher< std_msgs::Float64 > >	fly_time_pub_

bool	identified_target_change_ = true

ros::Subscriber	identified_target_change_sub_

bool	is_in_delay_before_switch_ {}

visualization_msgs::Marker	marker_desire_

visualization_msgs::Marker	marker_real_

double	max_track_target_vel_

double	output_pitch_ {}

double	output_yaw_ {}

std::shared_ptr< realtime_tools::RealtimePublisher< visualization_msgs::Marker > >	path_desire_pub_

std::shared_ptr< realtime_tools::RealtimePublisher< visualization_msgs::Marker > >	path_real_pub_

double	resistance_coff_ {}

int	selected_armor_

int	shoot_beforehand_cmd_ {}

std::shared_ptr< realtime_tools::RealtimePublisher< rm_msgs::ShootBeforehandCmd > >	shoot_beforehand_cmd_pub_

ros::Time	switch_armor_time_ {}

double	switch_hysteresis_

geometry_msgs::Point	target_pos_ {}

bool	track_target_ = true

Detailed Description

Definition at line 96 of file bullet_solver.h.

Constructor & Destructor Documentation

◆ BulletSolver()

rm_gimbal_controllers::BulletSolver::BulletSolver ( ros::NodeHandle & controller_nh )

explicit

Definition at line 76 of file bullet_solver.cpp.

◆ ~BulletSolver()

rm_gimbal_controllers::BulletSolver::~BulletSolver ( )

default

Member Function Documentation

◆ bulletModelPub()

void rm_gimbal_controllers::BulletSolver::bulletModelPub	(	const geometry_msgs::TransformStamped &	odom2pitch,
		const ros::Time &	time
	)

Definition at line 315 of file bullet_solver.cpp.

◆ getGimbalError()

double rm_gimbal_controllers::BulletSolver::getGimbalError	(	geometry_msgs::Point	pos,
		geometry_msgs::Vector3	vel,
		double	yaw,
		double	v_yaw,
		double	r1,
		double	r2,
		double	dz,
		int	armors_num,
		double	yaw_real,
		double	pitch_real,
		double	bullet_speed
	)

Definition at line 364 of file bullet_solver.cpp.

◆ getPitch()

double rm_gimbal_controllers::BulletSolver::getPitch ( ) const

inline

Definition at line 110 of file bullet_solver.h.

◆ getResistanceCoefficient()

double rm_gimbal_controllers::BulletSolver::getResistanceCoefficient ( double bullet_speed ) const

Definition at line 134 of file bullet_solver.cpp.

◆ getSelectedArmorPosAndVel()

void rm_gimbal_controllers::BulletSolver::getSelectedArmorPosAndVel	(	geometry_msgs::Point &	armor_pos,
		geometry_msgs::Vector3 &	armor_vel,
		geometry_msgs::Point	pos,
		geometry_msgs::Vector3	vel,
		double	yaw,
		double	v_yaw,
		double	r1,
		double	r2,
		double	dz,
		int	armors_num
	)

Definition at line 288 of file bullet_solver.cpp.

◆ getYaw()

double rm_gimbal_controllers::BulletSolver::getYaw ( ) const

inline

Definition at line 106 of file bullet_solver.h.

◆ identifiedTargetChangeCB()

void rm_gimbal_controllers::BulletSolver::identifiedTargetChangeCB ( const std_msgs::BoolConstPtr & msg )

Definition at line 414 of file bullet_solver.cpp.

◆ judgeShootBeforehand()

void rm_gimbal_controllers::BulletSolver::judgeShootBeforehand	(	const ros::Time &	time,
		double	v_yaw
	)

Definition at line 420 of file bullet_solver.cpp.

◆ reconfigCB()

void rm_gimbal_controllers::BulletSolver::reconfigCB	(	rm_gimbal_controllers::BulletSolverConfig &	config,
		uint32_t
	)

Definition at line 441 of file bullet_solver.cpp.

◆ solve()

bool rm_gimbal_controllers::BulletSolver::solve	(	geometry_msgs::Point	pos,
		geometry_msgs::Vector3	vel,
		double	bullet_speed,
		double	yaw,
		double	v_yaw,
		double	r1,
		double	r2,
		double	dz,
		int	armors_num,
		double	chassis_angular_vel_z
	)

Definition at line 151 of file bullet_solver.cpp.

Member Data Documentation

◆ bullet_speed_

double rm_gimbal_controllers::BulletSolver::bullet_speed_ {}

private

Definition at line 135 of file bullet_solver.h.

◆ config_

Config rm_gimbal_controllers::BulletSolver::config_ {}

private

Definition at line 132 of file bullet_solver.h.

◆ config_rt_buffer_

realtime_tools::RealtimeBuffer<Config> rm_gimbal_controllers::BulletSolver::config_rt_buffer_

private

Definition at line 130 of file bullet_solver.h.

◆ count_

int rm_gimbal_controllers::BulletSolver::count_

private

Definition at line 140 of file bullet_solver.h.

◆ d_srv_

dynamic_reconfigure::Server<rm_gimbal_controllers::BulletSolverConfig>* rm_gimbal_controllers::BulletSolver::d_srv_ {}

private

Definition at line 131 of file bullet_solver.h.

◆ dynamic_reconfig_initialized_

bool rm_gimbal_controllers::BulletSolver::dynamic_reconfig_initialized_ {}

private

Definition at line 144 of file bullet_solver.h.

◆ fly_time_

double rm_gimbal_controllers::BulletSolver::fly_time_

private

Definition at line 136 of file bullet_solver.h.

◆ fly_time_pub_

std::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Float64> > rm_gimbal_controllers::BulletSolver::fly_time_pub_

private

Definition at line 127 of file bullet_solver.h.

◆ identified_target_change_

bool rm_gimbal_controllers::BulletSolver::identified_target_change_ = true

private

Definition at line 142 of file bullet_solver.h.

◆ identified_target_change_sub_

ros::Subscriber rm_gimbal_controllers::BulletSolver::identified_target_change_sub_

private

Definition at line 128 of file bullet_solver.h.

◆ is_in_delay_before_switch_

bool rm_gimbal_controllers::BulletSolver::is_in_delay_before_switch_ {}

private

Definition at line 143 of file bullet_solver.h.

◆ marker_desire_

visualization_msgs::Marker rm_gimbal_controllers::BulletSolver::marker_desire_

private

Definition at line 147 of file bullet_solver.h.

◆ marker_real_

visualization_msgs::Marker rm_gimbal_controllers::BulletSolver::marker_real_

private

Definition at line 148 of file bullet_solver.h.

◆ max_track_target_vel_

double rm_gimbal_controllers::BulletSolver::max_track_target_vel_

private

Definition at line 133 of file bullet_solver.h.

◆ output_pitch_

double rm_gimbal_controllers::BulletSolver::output_pitch_ {}

private

Definition at line 134 of file bullet_solver.h.

◆ output_yaw_

double rm_gimbal_controllers::BulletSolver::output_yaw_ {}

private

Definition at line 134 of file bullet_solver.h.

◆ path_desire_pub_

std::shared_ptr<realtime_tools::RealtimePublisher<visualization_msgs::Marker> > rm_gimbal_controllers::BulletSolver::path_desire_pub_

private

Definition at line 124 of file bullet_solver.h.

◆ path_real_pub_

std::shared_ptr<realtime_tools::RealtimePublisher<visualization_msgs::Marker> > rm_gimbal_controllers::BulletSolver::path_real_pub_

private

Definition at line 125 of file bullet_solver.h.

◆ resistance_coff_

double rm_gimbal_controllers::BulletSolver::resistance_coff_ {}

private

Definition at line 135 of file bullet_solver.h.

◆ selected_armor_

int rm_gimbal_controllers::BulletSolver::selected_armor_

private

Definition at line 139 of file bullet_solver.h.

◆ shoot_beforehand_cmd_

int rm_gimbal_controllers::BulletSolver::shoot_beforehand_cmd_ {}

private

Definition at line 138 of file bullet_solver.h.

◆ shoot_beforehand_cmd_pub_

std::shared_ptr<realtime_tools::RealtimePublisher<rm_msgs::ShootBeforehandCmd> > rm_gimbal_controllers::BulletSolver::shoot_beforehand_cmd_pub_

private

Definition at line 126 of file bullet_solver.h.

◆ switch_armor_time_

ros::Time rm_gimbal_controllers::BulletSolver::switch_armor_time_ {}

private

Definition at line 129 of file bullet_solver.h.

◆ switch_hysteresis_

double rm_gimbal_controllers::BulletSolver::switch_hysteresis_

private

Definition at line 137 of file bullet_solver.h.

◆ target_pos_

geometry_msgs::Point rm_gimbal_controllers::BulletSolver::target_pos_ {}

private

Definition at line 146 of file bullet_solver.h.

◆ track_target_

bool rm_gimbal_controllers::BulletSolver::track_target_ = true

private

Definition at line 141 of file bullet_solver.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BulletSolver()

◆ ~BulletSolver()

Member Function Documentation

◆ bulletModelPub()

◆ getGimbalError()

◆ getPitch()

◆ getResistanceCoefficient()

◆ getSelectedArmorPosAndVel()

◆ getYaw()

◆ identifiedTargetChangeCB()

◆ judgeShootBeforehand()

◆ reconfigCB()

◆ solve()

Member Data Documentation

◆ bullet_speed_

◆ config_

◆ config_rt_buffer_

◆ count_

◆ d_srv_

◆ dynamic_reconfig_initialized_

◆ fly_time_

◆ fly_time_pub_

◆ identified_target_change_

◆ identified_target_change_sub_

◆ is_in_delay_before_switch_

◆ marker_desire_

◆ marker_real_

◆ max_track_target_vel_

◆ output_pitch_

◆ output_yaw_

◆ path_desire_pub_

◆ path_real_pub_

◆ resistance_coff_

◆ selected_armor_

◆ shoot_beforehand_cmd_

◆ shoot_beforehand_cmd_pub_

◆ switch_armor_time_

◆ switch_hysteresis_

◆ target_pos_

◆ track_target_