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energy changed

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sun
2019-08-04 01:24:39 +08:00
parent af85869f48
commit 851c716153
4 changed files with 7 additions and 7 deletions
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1
energy/include/energy/energy.h
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@@ -80,6 +80,7 @@ private:
float guess_polar_angle;//猜测的下一个目标装甲板极坐标角度 float guess_polar_angle;//猜测的下一个目标装甲板极坐标角度
float last_base_angle;//上一帧的各扇叶在0区（0°~72°）的基础角度 float last_base_angle;//上一帧的各扇叶在0区（0°~72°）的基础角度
float predict_rad;//预测提前角 float predict_rad;//预测提前角
float predict_rad_norm;//预测提前角的绝对值
float attack_distance;//步兵与风车平面距离 float attack_distance;//步兵与风车平面距离
float center_delta_yaw, center_delta_pitch;//对心时相差的角度 float center_delta_yaw, center_delta_pitch;//对心时相差的角度
float yaw_rotation, pitch_rotation;//云台yaw轴和pitch轴应该转到的角度 float yaw_rotation, pitch_rotation;//云台yaw轴和pitch轴应该转到的角度

1
energy/src/energy/clear/energy_init.cpp
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@@ -46,6 +46,7 @@ void Energy::initEnergy() {
guess_polar_angle = -1000; guess_polar_angle = -1000;
last_base_angle = -1000; last_base_angle = -1000;
predict_rad = 25; predict_rad = 25;
predict_rad_norm = 25;
attack_distance = ATTACK_DISTANCE; attack_distance = ATTACK_DISTANCE;
center_delta_yaw = 1000; center_delta_yaw = 1000;
center_delta_pitch = 1000; center_delta_pitch = 1000;

8
energy/src/energy/get/predict_point_get.cpp
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@@ -16,11 +16,9 @@ using std::vector;
// --------------------------------------------------------------------------------------------------------------------- // ---------------------------------------------------------------------------------------------------------------------
void Energy::getPredictPoint(cv::Point target_point) { void Energy::getPredictPoint(cv::Point target_point) {
if (is_big) { if (is_big) {
if (energy_rotation_direction == 1) rotate(target_point); if (energy_rotation_direction == 1) predict_rad = predict_rad_norm;
if (energy_rotation_direction == -1) { else if (energy_rotation_direction == -1) predict_rad = -predict_rad_norm;
predict_rad = -25; rotate(target_point);
rotate(target_point);
}
} else if (is_small) predict_point = target_point; } else if (is_small) predict_point = target_point;
} }

4
main.cpp
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@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/); video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/); video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else { } else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/new/5.avi"); video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/new/18.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/new/5.avi"); video_chassis = new VideoWrapper("/home/sun/项目/energy_video/new/18.avi");
} }
if (video_gimbal->init()) { if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully."); LOGM("video_gimbal source initialization successfully.");