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Merged
YoujianWu merged 2 commits into from
Jul 29, 2025
Merged

Optimize and fix bullet solver. #204

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18d46b6
Optimize and fix bullet solver.
Rayy0527 Jul 29, 2025
d6ef751
Optimize bullet solver.
Rayy0527 Jul 29, 2025
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4 changes: 2 additions & 2 deletions rm_gimbal_controllers/include/rm_gimbal_controllers/bullet_solver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,8 +57,8 @@ struct Config
{
double resistance_coff_qd_10, resistance_coff_qd_15, resistance_coff_qd_16, resistance_coff_qd_18,
resistance_coff_qd_30, g, delay, wait_next_armor_delay, wait_diagonal_armor_delay, dt, timeout, max_switch_angle,
min_switch_angle, switch_duration_scale, switch_duration_rate, switch_duration_offset, min_shoot_beforehand_vel,
max_chassis_angular_vel, track_rotate_target_delay, track_move_target_delay;
min_switch_angle, switch_angle_offset, switch_duration_scale, switch_duration_rate, switch_duration_offset,
min_shoot_beforehand_vel, max_chassis_angular_vel, track_rotate_target_delay, track_move_target_delay;
int min_fit_switch_count;
};

Expand Down
49 changes: 23 additions & 26 deletions rm_gimbal_controllers/src/bullet_solver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ BulletSolver::BulletSolver(ros::NodeHandle& controller_nh)
.timeout = getParam(controller_nh, "timeout", 0.),
.max_switch_angle = getParam(controller_nh, "max_switch_angle", 40.0),
.min_switch_angle = getParam(controller_nh, "min_switch_angle", 2.0),
.switch_angle_offset = getParam(controller_nh, "switch_angle_offset", 0.0),
.switch_duration_scale = getParam(controller_nh, "switch_duration_scale", 0.),
.switch_duration_rate = getParam(controller_nh, "switch_duration_rate", 0.),
.switch_duration_offset = getParam(controller_nh, "switch_duration_offset", 0.08),
Expand Down Expand Up @@ -154,24 +155,16 @@ bool BulletSolver::solve(geometry_msgs::Point pos, geometry_msgs::Vector3 vel, d
if (std::abs(v_yaw) <= max_track_target_vel_ - switch_hysteresis_)
track_target_ = true;
}
double switch_armor_angle{};
if (track_target_)
{
if (v_yaw > 0.)
switch_armor_angle =
M_PI / armors_num - (2 * rough_fly_time + getGimbalSwitchDuration(std::abs(v_yaw))) / 2 * v_yaw;
else if (v_yaw < 0.)
switch_armor_angle =
-M_PI / armors_num - (2 * rough_fly_time + getGimbalSwitchDuration(std::abs(v_yaw))) / 2 * v_yaw;
}
else
switch_armor_angle = min_switch_angle;
double switch_armor_angle =
track_target_ ? M_PI / armors_num - (2 * rough_fly_time + getGimbalSwitchDuration(abs(v_yaw))) / 2 * abs(v_yaw) +
config_.switch_angle_offset :
min_switch_angle;
double yaw_subtract = filtered_yaw_ - output_yaw_;
while (yaw_subtract > M_PI)
yaw_subtract -= 2 * M_PI;
while (yaw_subtract < -M_PI)
yaw_subtract += 2 * M_PI;
if (((yaw_subtract > switch_armor_angle) && v_yaw > 1.) || ((yaw_subtract < switch_armor_angle) && v_yaw < -1.))
if (((yaw_subtract > switch_armor_angle) && v_yaw > 1.) || ((yaw_subtract < -switch_armor_angle) && v_yaw < -1.))
{
count_++;
if (identified_target_change_)
Expand All @@ -194,8 +187,8 @@ bool BulletSolver::solve(geometry_msgs::Point pos, geometry_msgs::Vector3 vel, d
aim_yaw_subtract -= 2 * M_PI;
while (aim_yaw_subtract < -M_PI)
aim_yaw_subtract += 2 * M_PI;
is_in_delay_before_switch_ = ((((aim_yaw_subtract + v_yaw * config_.delay) > switch_armor_angle) && v_yaw > 0.) ||
(((aim_yaw_subtract + v_yaw * config_.delay) < switch_armor_angle) && v_yaw < 0.)) &&
is_in_delay_before_switch_ = ((((aim_yaw_subtract + v_yaw * config_.delay) > switch_armor_angle) && v_yaw > 1.) ||
(((aim_yaw_subtract + v_yaw * config_.delay) < -switch_armor_angle) && v_yaw < -1.)) &&
track_target_;
if (track_target_)
yaw += v_yaw * config_.track_rotate_target_delay;
Expand All @@ -212,10 +205,10 @@ bool BulletSolver::solve(geometry_msgs::Point pos, geometry_msgs::Vector3 vel, d
{
target_pos_.x = pos.x - r * cos(atan2(pos.y, pos.x));
target_pos_.y = pos.y - r * sin(atan2(pos.y, pos.x));
if ((v_yaw > 1.0 && (yaw + v_yaw * (fly_time_ + config_.wait_next_armor_delay) +
selected_armor_ * 2 * M_PI / armors_num) > output_yaw_) ||
(v_yaw < -1.0 && (yaw + v_yaw * (fly_time_ + config_.wait_next_armor_delay) +
selected_armor_ * 2 * M_PI / armors_num) < output_yaw_))
if ((v_yaw > 1.0 && (yaw_subtract + v_yaw * (fly_time_ + config_.wait_next_armor_delay) +
selected_armor_ * 2 * M_PI / armors_num) > 0.) ||
(v_yaw < -1.0 && (yaw_subtract + v_yaw * (fly_time_ + config_.wait_next_armor_delay) +
selected_armor_ * 2 * M_PI / armors_num) < 0.))
selected_armor_ = v_yaw > 0. ? -2 : 2;
if (selected_armor_ % 2 == 0)
{
Expand Down Expand Up @@ -424,13 +417,15 @@ void BulletSolver::judgeShootBeforehand(const ros::Time& time, double v_yaw)
{
if (!track_target_)
shoot_beforehand_cmd_ = rm_msgs::ShootBeforehandCmd::JUDGE_BY_ERROR;
else if ((ros::Time::now() - switch_armor_time_).toSec() < getGimbalSwitchDuration(std::abs(v_yaw)) - config_.delay)
shoot_beforehand_cmd_ = rm_msgs::ShootBeforehandCmd::BAN_SHOOT;
else if (((ros::Time::now() - switch_armor_time_).toSec() < getGimbalSwitchDuration(std::abs(v_yaw))) &&
std::abs(v_yaw) > config_.min_shoot_beforehand_vel)
shoot_beforehand_cmd_ = rm_msgs::ShootBeforehandCmd::ALLOW_SHOOT;
else if (is_in_delay_before_switch_)
shoot_beforehand_cmd_ = rm_msgs::ShootBeforehandCmd::BAN_SHOOT;
else if (std::abs(v_yaw) > config_.min_shoot_beforehand_vel)
{
if ((ros::Time::now() - switch_armor_time_).toSec() < getGimbalSwitchDuration(std::abs(v_yaw)) - config_.delay)
shoot_beforehand_cmd_ = rm_msgs::ShootBeforehandCmd::BAN_SHOOT;
if (((ros::Time::now() - switch_armor_time_).toSec() < getGimbalSwitchDuration(std::abs(v_yaw))))
shoot_beforehand_cmd_ = rm_msgs::ShootBeforehandCmd::ALLOW_SHOOT;
if (is_in_delay_before_switch_)
shoot_beforehand_cmd_ = rm_msgs::ShootBeforehandCmd::BAN_SHOOT;
}
else
shoot_beforehand_cmd_ = rm_msgs::ShootBeforehandCmd::JUDGE_BY_ERROR;
if (shoot_beforehand_cmd_pub_->trylock())
Expand Down Expand Up @@ -460,6 +455,7 @@ void BulletSolver::reconfigCB(rm_gimbal_controllers::BulletSolverConfig& config,
config.timeout = init_config.timeout;
config.max_switch_angle = init_config.max_switch_angle;
config.min_switch_angle = init_config.min_switch_angle;
config.switch_angle_offset = init_config.switch_angle_offset;
config.switch_duration_scale = init_config.switch_duration_scale;
config.switch_duration_rate = init_config.switch_duration_rate;
config.switch_duration_offset = init_config.switch_duration_offset;
Expand All @@ -483,6 +479,7 @@ void BulletSolver::reconfigCB(rm_gimbal_controllers::BulletSolverConfig& config,
.timeout = config.timeout,
.max_switch_angle = config.max_switch_angle,
.min_switch_angle = config.min_switch_angle,
.switch_angle_offset = config.switch_angle_offset,
.switch_duration_scale = config.switch_duration_scale,
.switch_duration_rate = config.switch_duration_rate,
.switch_duration_offset = config.switch_duration_offset,
Expand Down
20 changes: 16 additions & 4 deletions rm_gimbal_controllers/src/gimbal_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -434,10 +434,22 @@ void Controller::moveJoint(const ros::Time& time, const ros::Duration& period)
{
geometry_msgs::Point target_pos;
geometry_msgs::Vector3 target_vel;
double yaw = data_track_.yaw + data_track_.v_yaw * ((time - data_track_.header.stamp).toSec());
bullet_solver_->getSelectedArmorPosAndVel(target_pos, target_vel, data_track_.position, data_track_.velocity, yaw,
data_track_.v_yaw, data_track_.radius_1, data_track_.radius_2,
data_track_.dz, data_track_.armors_num);
if (data_track_.id != 12)
{
geometry_msgs::Point pos = data_track_.position;
double yaw = data_track_.yaw + data_track_.v_yaw * ((time - data_track_.header.stamp).toSec());
pos.x += data_track_.velocity.x * (time - data_track_.header.stamp).toSec();
pos.y += data_track_.velocity.y * (time - data_track_.header.stamp).toSec();
pos.z += data_track_.velocity.z * (time - data_track_.header.stamp).toSec();
bullet_solver_->getSelectedArmorPosAndVel(target_pos, target_vel, pos, data_track_.velocity, yaw,
data_track_.v_yaw, data_track_.radius_1, data_track_.radius_2,
data_track_.dz, data_track_.armors_num);
}
else
{
target_pos = data_track_.position;
target_vel = data_track_.velocity;
}
target_vel.x -= chassis_vel_->linear_->x();
target_vel.y -= chassis_vel_->linear_->y();
target_vel.z -= chassis_vel_->linear_->z();
Expand Down
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