add wust typr mpc and mutipule x

wust_vision-main/tasks/auto_sniper/auto_sniper.hpp

@@ -0,0 +1,32 @@
+#pragma once
+#include "tasks/imodule.hpp"
+#include "tasks/type_common.hpp"
+#include <memory>
+#include <rclcpp/node.hpp>
+namespace wust_vision {
+namespace auto_sniper {
+    class AutoSniper: public IModule {
+    public:
+        using Ptr = std::shared_ptr<AutoSniper>;
+        AutoSniper(
+            rclcpp::Node& node,
+            std::shared_ptr<wust_vl::common::utils::MotionBufferGeneric<Motion, 1024>> motion_buffer
+        );
+        static Ptr create(
+            rclcpp::Node& node,
+            std::shared_ptr<wust_vl::common::utils::MotionBufferGeneric<Motion, 1024>> motion_buffer
+        ) {
+            return std::make_shared<AutoSniper>(node, motion_buffer);
+        }
+        ~AutoSniper();
+        void start() override;
+        void doDebug() override;
+        void pushInput(CommonFrame& frame) override;
+        GimbalCmd solve(double bullet_speed) override;
+        wust_vl::common::concurrency::MonitoredThread::Ptr getThread() override;
+        struct Impl;
+        std::unique_ptr<Impl> _impl;
+    };
+} // namespace auto_sniper
+
+} // namespace wust_vision