29 lines
597 B
C++
29 lines
597 B
C++
#ifndef AUTO_AIM__SHOOTER_HPP
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#define AUTO_AIM__SHOOTER_HPP
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#include <string>
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#include "io/command.hpp"
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#include "tasks/auto_aim/aimer.hpp"
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namespace auto_aim
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{
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class Shooter
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{
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public:
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Shooter(const std::string & config_path);
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bool shoot(
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const io::Command & command, const auto_aim::Aimer & aimer,
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const std::list<auto_aim::Target> & targets, const Eigen::Vector3d & gimbal_pos);
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private:
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io::Command last_command_;
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double judge_distance_;
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double first_tolerance_;
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double second_tolerance_;
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bool auto_fire_;
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};
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} // namespace auto_aim
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#endif // AUTO_AIM__SHOOTER_HPP
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