add wust typr mpc and mutipule x

wust_vision-main/tasks/auto_aim/auto_aim.hpp

@@ -0,0 +1,46 @@
+#pragma once
+
+#include "tasks/auto_aim/armor_control/very_aimer.hpp"
+#include "tasks/auto_aim/armor_tracker/target.hpp"
+#include "tasks/imodule.hpp"
+#include "tasks/type_common.hpp"
+#include "wust_vl/video/camera.hpp"
+#include <memory>
+namespace wust_vision {
+namespace auto_aim {
+
+    class AutoAim: public IModule {
+    public:
+        using Ptr = std::shared_ptr<AutoAim>;
+        AutoAim(
+            const std::string& config_path,
+            TFConfig::Ptr tf_config,
+            const std::pair<cv::Mat, cv::Mat>& camera_info,
+            bool debug
+        );
+        static Ptr create(
+            const std::string& config_path,
+            TFConfig::Ptr tf_config,
+            const std::pair<cv::Mat, cv::Mat>& camera_info,
+            bool debug
+        ) {
+            return std::make_shared<AutoAim>(config_path, tf_config, camera_info, debug);
+        }
+        ~AutoAim();
+
+        void start() override;
+        void doDebug() override;
+        void pushInput(CommonFrame& frame) override;
+        Target getTarget();
+        GimbalCmd solve(double bullet_speed) override;
+        wust_vl::common::concurrency::MonitoredThread::Ptr getThread() override;
+        wust_vl::common::utils::Parameter::Ptr getParameter();
+        VeryAimer::Ptr getVeryAimer();
+        struct Impl;
+        std::unique_ptr<Impl> _impl;
+    };
+    inline AutoAim::Ptr toAutoAim(IModule::Ptr module) {
+        return std::dynamic_pointer_cast<AutoAim>(module);
+    }
+} // namespace auto_aim
+} // namespace wust_vision