roborts_decision::GimbalContrl Class Reference

The class can make a transformation: the 3D position of enemy --> pitch,yaw angle of gimbal. For more derails, see projectile_model.pdf TODO: add enemy motion estimation. More...

#include <gimbal_control.h>

Public Member Functions
void	Init (float x, float y, float z, float pitch, float yaw, float init_v, float init_k)
	Init the Transformation matrix from camera to gimbal //TODO: write in ros tf. More...
void	Transform (geometry_msgs::Point32 &postion, float &pitch, float &yaw)
	Get the gimbal control info. More...

Private Member Functions
float	BulletModel (float x, float v, float angle)
	Calculate the actual y value with air resistance. More...
float	GetPitch (float x, float y, float v)
	Get the gimbal control angle. More...

Private Attributes
geometry_msgs::Point32	offset_
float	offset_pitch_
	Rotation matrix unit: degree. More...
float	offset_yaw_
float	init_v_
	Initial value. More...
float	init_k_

Detailed Description

The class can make a transformation: the 3D position of enemy --> pitch,yaw angle of gimbal. For more derails, see projectile_model.pdf TODO: add enemy motion estimation.

Member Function Documentation

BulletModel()

float roborts_decision::GimbalContrl::BulletModel ( float  x, float  v, float  angle  )

private

Calculate the actual y value with air resistance.

Parameters

x	the distanc
v	Projectile velocity
angle	Pitch angle

Returns

The actual y value in the gimbal coordinate

GetPitch()

float roborts_decision::GimbalContrl::GetPitch ( float  x, float  y, float  v  )

private

Get the gimbal control angle.

Parameters

x	Distance from enemy(the armor selected to shoot) to gimbal
y	Value of y in gimbal coordinate.
v	Projectile velocity

Returns

Gimbal pitch angle

Init()

void roborts_decision::GimbalContrl::Init	(	float	x,
		float	y,
		float	z,
		float	pitch,
		float	yaw,
		float	init_v,
		float	init_k
	)

Init the Transformation matrix from camera to gimbal //TODO: write in ros tf.

Parameters

x	Translate x
y	Translate y
z	Translate z
pitch	Rotate pitch
yaw	Rotate yaw

Transform()

void roborts_decision::GimbalContrl::Transform	(	geometry_msgs::Point32 &	postion,
		float &	pitch,
		float &	yaw
	)

Get the gimbal control info.

Parameters

postion	Enemy position(actually it should be the target armor).
pitch	Input and output actual pitch angle
yaw	Input and output actual yaw angle

Member Data Documentation

init_k_

float roborts_decision::GimbalContrl::init_k_

private

init_v_

float roborts_decision::GimbalContrl::init_v_

private

Initial value.

offset_

geometry_msgs::Point32 roborts_decision::GimbalContrl::offset_

private

Transformation matrix between camera coordinate system and gimbal coordinate system. Translation unit: cm

offset_pitch_

float roborts_decision::GimbalContrl::offset_pitch_

private

Rotation matrix unit: degree.

offset_yaw_

float roborts_decision::GimbalContrl::offset_yaw_

private

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

• src/ICRA-Firefly-RoboRTS/roborts_decision/executor/gimbal_control.h
• src/ICRA-Firefly-RoboRTS/roborts_decision/executor/gimbal_control.cpp