rm_gimbal_controllers::BulletSolver Class Reference

#include <bullet_solver.h>

Public Member Functions
	BulletSolver (ros::NodeHandle &controller_nh)
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 start_vel)
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	getResistanceCoefficient (double bullet_speed) const
double	getYaw () const
double	getPitch () const
double	getTrajectYaw () const
bool	getUsingtraject () const
int	getShootnum () const
double	getTrajectEffortff () const
bool	getTrackTarget ()
double	getGimbalSwitchDuration (double v_yaw)
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)
void	judgeShootBeforehand (const ros::Time &time, double v_yaw)
void	bulletModelPub (const geometry_msgs::TransformStamped &odom2pitch, const ros::Time &time)
void	identifiedTargetChangeCB (const std_msgs::BoolConstPtr &msg)
void	reconfigCB (rm_gimbal_controllers::BulletSolverConfig &config, uint32_t)
double	planningPoint (ros::Time &time, ros::Time &start_trajectory_time_)
void	heatCB (const rm_msgs::LocalHeatStateConstPtr &msg)
	~BulletSolver ()=default

Constructor & Destructor Documentation

BulletSolver()

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

explicit

~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 )

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 )

getGimbalSwitchDuration()

double rm_gimbal_controllers::BulletSolver::getGimbalSwitchDuration

(

double

v_yaw

)

getPitch()

double rm_gimbal_controllers::BulletSolver::getPitch ( ) const

inline

getResistanceCoefficient()

double rm_gimbal_controllers::BulletSolver::getResistanceCoefficient

(

double

bullet_speed

)

const

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 )

getShootnum()

int rm_gimbal_controllers::BulletSolver::getShootnum ( ) const

inline

getTrackTarget()

bool rm_gimbal_controllers::BulletSolver::getTrackTarget ( )

inline

getTrajectEffortff()

double rm_gimbal_controllers::BulletSolver::getTrajectEffortff ( ) const

inline

getTrajectYaw()

double rm_gimbal_controllers::BulletSolver::getTrajectYaw ( ) const

inline

getUsingtraject()

bool rm_gimbal_controllers::BulletSolver::getUsingtraject ( ) const

inline

getYaw()

double rm_gimbal_controllers::BulletSolver::getYaw ( ) const

inline

heatCB()

void rm_gimbal_controllers::BulletSolver::heatCB

(

const rm_msgs::LocalHeatStateConstPtr &

msg

)

identifiedTargetChangeCB()

void rm_gimbal_controllers::BulletSolver::identifiedTargetChangeCB

(

const std_msgs::BoolConstPtr &

msg

)

judgeShootBeforehand()

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

planningPoint()

double rm_gimbal_controllers::BulletSolver::planningPoint	(	ros::Time &	time,
		ros::Time &	start_trajectory_time_ )

reconfigCB()

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

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	start_vel )

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

• rm_gimbal_controllers/include/rm_gimbal_controllers/bullet_solver.h
• rm_gimbal_controllers/src/bullet_solver.cpp