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