// 创建基于重力弹道模型的求解器，GravityProjectileSolver，参数代表子弹速度为25m/s
auto graviry_solver = std::make_shared<rmoss_projectile_motion::GravityProjectileSolver>(25);

// 创建考虑重力和空气阻力的求解器，GafProjectileSolver，参数代表子弹速度为25m/s，空气阻力系数为0.1
auto gaf_solver = std::make_shared<rmoss_projectile_motion::GafProjectileSolver>(25, 0.1);

// 创建gimbal_transform_tool，传入graviry_solver求解器
auto projectile_tansformoss_tool =
  std::make_shared<rmoss_projectile_motion::GimbalTransformTool>(graviry_solver);

// 求解例子
Eigen::Vector3d position(6, 2, 2);
double pitch, yaw;
projectile_tansformoss_tool->solve(position, pitch, yaw);

// 更换求解器
projectile_tansformoss_tool->set_projectile_solver(gaf_solver);

// 更改求解器的参数
graviry_solver->set_initial_vel(15);
gaf_solver->set_initial_vel(15);
gaf_solver->set_friction_coeff(0.2);