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2026-09-02 15:13:13 +08:00
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+"""视觉跟踪控制包（visual_track_control Python 版）。
+
+对应 C++ 参考实现 reference-c++/visual_track_control/。本包与 target_tracker
+包互不依赖（TrackState 为字段对齐的独立值类型，胶水层负责转换）。
+
+分层：
+  纯算法构件   rate_limiter / staleness_checker / line_of_sight /
+               frame_transform / pid_controller
+  配置         config（TrackingConfig + load_from_json）
+  主控律       tracking_control_law（TrackingControlLaw）
+  指令输出     command_sender（抽象 Protocol）+ mavsdk_gateway（MAVSDK offboard）
+"""
+
+from .command_sender import CommandSender
+from .config import (AccelLimitConfig, CameraGroupConfig, ControlGroupConfig,
+                     DistanceGroupConfig, HeadingGroupConfig, HeadingMode,
+                     NoDistanceAction, TrackingConfig, VerticalGroupConfig,
+                     load_from_json)
+from .frame_transform import rotate_body_to_ned
+from .line_of_sight import PixelToAngle
+from .mavsdk_gateway import MavsdkCommandGateway
+from .pid_controller import PidController, PidParams
+from .rate_limiter import SlewRateLimiter, clamp
+from .staleness_checker import is_stale
+from .tracking_control_law import TrackingControlLaw
+from .types import (ControlMode, ControlOutput, ControlSnapshot, DegradedReason,
+                    TrackState)
+
+__all__ = [
+    "CommandSender",
+    "MavsdkCommandGateway",
+    "TrackingControlLaw",
+    "TrackingConfig",
+    "load_from_json",
+    "HeadingMode",
+    "NoDistanceAction",
+    "ControlGroupConfig",
+    "CameraGroupConfig",
+    "HeadingGroupConfig",
+    "VerticalGroupConfig",
+    "DistanceGroupConfig",
+    "AccelLimitConfig",
+    "ControlMode",
+    "DegradedReason",
+    "TrackState",
+    "ControlSnapshot",
+    "ControlOutput",
+    "PidController",
+    "PidParams",
+    "SlewRateLimiter",
+    "clamp",
+    "is_stale",
+    "PixelToAngle",
+    "rotate_body_to_ned",
+]