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• 能量机关

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• 火控及控制模块

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• 预测及解算模块

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• 位姿估计模块

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• 基础代码设施（横向持久）

  - 封装第三方依赖，比如 rclcpp，eigen 等，隐藏依赖，缩短增量编译时间，同时暴露有限接口，优化补全噪声 - 提供基本的数据结构，工具封装，供全项目使用

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