Provides a series of functions for solving automatic control parameters. More...

#include "core/core.h"

Include dependency graph for mobility.h:

This graph shows which files directly or indirectly include this file:

Namespaces
	rm
	Main modules.

Typedefs
typedef enum rm::CompensateMode	rm::CompensateMode
	Define witch method is used to calculate the compensation of gravity.

Enumerations
enum	rm::CompensateMode { rm::COMPENSATE_NONE = 0, rm::COMPENSATE_CLASSIC = 1, rm::COMPENSATE_NI = 2 }
	Define witch method is used to calculate the compensation of gravity. More...

Functions
void	rm::AxisRotateX (double y, double z, double thetaX, double &outY, double &outZ)
	Rotate the vector around the x-axis. More...

void	rm::AxisRotateY (double x, double z, double thetaY, double &outX, double &outZ)
	Rotate the vector around the y-axis. More...

void	rm::AxisRotateZ (double x, double y, double thetaZ, double &outX, double &outY)
	Rotate the vector around the z-axis. More...

double	rm::DeltaHeight (cv::InputArray translationVector, double motorAngle, const cv::Point2f &offset={0, 0}, double angleOffset=0)
	Solve height difference between barrel and target. More...

double	rm::Distance (cv::InputArray translationVector)
	Solve the distance between camera and target. More...

double	rm::ProjectileAngle (double v0, double g, double d, double h)
	Solve initial angle required for a projectile motion. More...

bool	rm::SolveCameraPose (cv::InputArray rotationVector, cv::InputArray translationVector, cv::OutputArray pose)
	Solve camera pose in pitch, yaw, and roll relative to a target. More...

double	rm::SolveGEA (cv::InputArray translationVector, cv::OutputArray gimbalErrorAngle, double g, double v0, double h, const cv::Point2f &offset={0, 0}, double angleOffset=0, rm::CompensateMode mode=rm::COMPENSATE_NONE)
	Solve gimbal error angle to target by given method. More...

bool	rm::SolvePNP (const std::vector< cv::Point2f > &imagePoints, cv::InputArray cameraMatrix, cv::InputArray distortionFactor, const cv::Size2f &exactSize, cv::OutputArray translationVector, cv::OutputArray rotationVector, const cv::Rect &ROI={0, 0, 0, 0})
	Solve the rotation & translation vector using cv::solvePnP & cv::SOLVEPNP_IPPE_SQUARE. More...

Detailed Description

Provides a series of functions for solving automatic control parameters.

Version: v0.1.0

Date: 7/11/2022

Author: EarthOL-088217

Namespaces

Typedefs

Enumerations

Functions

Detailed Description