aim_map.h

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#pragma once
 
#include <cstdint>
#include <optional>
 
namespace aiming
{
constexpr int32_t kStepsPerRev = 2048; 
constexpr float kPanMinDeg = -90.0f;
constexpr float kPanMaxDeg = 90.0f;
constexpr float kTiltMinDeg = 20.0f;
constexpr float kTiltMaxDeg = 160.0f;
constexpr float kTiltHomeDeg = 90.0f;
constexpr int kFrameW = 320; 
constexpr int kFrameH = 240;
constexpr float kLimitMarginDeg = 0.5f; 
constexpr float kMinCalDx = 80.0f;      
constexpr float kMinCalDy = 60.0f;
 
struct Angles {
    float pan = 0.0f;
    float tilt = kTiltHomeDeg;
};
 
struct CalPoint {
    float x = 0.0f;
    float y = 0.0f;
    float pan = 0.0f;
    float tilt = kTiltHomeDeg;
};
 
struct Pixel {
    float x = 0.0f;
    float y = 0.0f;
};
 
struct AimMap {
    float pan_a = 0.0f;
    float pan_b = 0.0f;
    float tilt_a = 0.0f;
    float tilt_b = kTiltHomeDeg;
 
    Angles aim(float x, float y) const;
 
    Pixel to_pixel(Angles a) const;
};
 
struct ReachBox {
    int16_t x0 = 0;
    int16_t y0 = 0;
    int16_t x1 = kFrameW - 1;
    int16_t y1 = kFrameH - 1;
};
 
AimMap default_map();
 
std::optional<AimMap> fit(const CalPoint& p1, const CalPoint& p2);
 
ReachBox reach_box(const AimMap& m);
 
uint8_t limit_bits(Angles a);
 
Angles clamp_angles(Angles a);
 
int32_t pan_deg_to_steps(float deg);
float pan_steps_to_deg(int32_t steps);
} // namespace aiming