gimbal_control.h

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/****************************************************************************
 *  Copyright (C) 2019 RoboMaster.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program. If not, see <http://www.gnu.org/licenses/>.
 ***************************************************************************/
#ifndef ROBORTS_DETECTION_GIMBAL_CONTROL_H
#define ROBORTS_DETECTION_GIMBAL_CONTROL_H
 
#include <iostream>
//#include <opencv-3.3.1-dev/opencv2/opencv.hpp>
#include <geometry_msgs/Point32.h>
 
namespace roborts_decision {
 
const double PI = 3.1415926535;
const float GRAVITY = 9.78;
 
class GimbalContrl {
private:
  float BulletModel(float x, float v, float angle);
 
  float GetPitch(float x, float y, float v);
 
public:
  void Init(float x, float y, float z, float pitch, float yaw, float init_v,
            float init_k);
 
  void Transform(geometry_msgs::Point32 &postion,float &pitch,float &yaw);
 
private:
  geometry_msgs::Point32 offset_;
  float offset_pitch_;
  float offset_yaw_;
 
  float init_v_;
  float init_k_;
 
};
 
} //namespace roborts_detection
 
#endif //ROBORTS_DETECTION_GIMBAL_CONTROL_H