Use friend property to hide impl function

[creeper5820]

Pull Request 摘要

目的

使用友元属性隐藏CRTP实现函数，使基类 Movable 能够访问派生类的私有 impl_move() 方法。

主要变更

CMakeLists.txt

• 注释掉 find_package(Ceres REQUIRED) 调用，禁用显式的Ceres依赖解析

src/utility/rclcpp/visual/armor.hpp

• 在 Armor 结构体中添加 friend Movable; 声明
• 允许 Movable 基类访问 Armor 的私有成员，特别是 impl_move() 方法

src/utility/rclcpp/visual/posture.hpp

• 在 Posture 结构体中添加 friend Movable; 声明
• 显式添加 public: 访问说明符，明确 Config 类型的公有地位
• impl_move() 保持私有，由友元声明提供访问权限

src/utility/rclcpp/visual/transform.hpp

• 在 Transform 结构体中添加 friend Movable; 声明
• 显式添加 public: 访问说明符，明确 Config 嵌套结构体的公有地位
• impl_move() 保持私有，由友元声明提供访问权限

设计意图

通过友元声明，使得 Movable 基类能够调用派生类的私有 impl_move() 实现方法。这样用户只能通过基类公开的 move() 方法进行交互，而 impl_move() 作为实现细节保持隐藏和私有，符合CRTP设计模式的最佳实践。

[coderabbitai]

Walkthrough

此拉取请求引入了对多个C++头文件的访问控制和友元声明修改，为Movable类添加了对Armor、Posture和Transform结构体的私有成员访问权限。同时在CMakeLists.txt中注释掉了显式的Ceres依赖查找调用。

Changes

内聚性 / 文件	变更摘要
CMake 配置 CMakeLists.txt	注释掉 find_package(Ceres REQUIRED) 调用，禁用对Ceres包的显式依赖解析。
友元访问授权 src/utility/rclcpp/visual/armor.hpp, src/utility/rclcpp/visual/transform.hpp	为Movable类添加友元声明，允许其访问这些结构体的私有成员。
访问控制重组 src/utility/rclcpp/visual/posture.hpp	添加Movable友元声明，显式添加public访问说明符以清晰定义Config类型的公开可见性，修改impl_move和数据成员的访问级别。

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~10 minutes

Poem

🐰 ✨
友元之链悄然结，Movable 展翅高飞，
访问权限重重开，Transform 与 Armor 相知，
CMake 簇拥聚一堂，代码之舞更绚烂！

🚥 Pre-merge checks | ✅ 3

✅ Passed checks (3 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	标题清晰准确地描述了本次变更的主要目的：使用友元属性来隐藏实现函数。
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.

_{✏️ Tip: You can configure your own custom pre-merge checks in the settings.}

✨ Finishing touches

• 📝 Generate docstrings

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Post copyable unit tests in a comment
• Commit unit tests in branch fix/hide-crtp-impl-function

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[coderabbitai]

Actionable comments posted: 1

🤖 Fix all issues with AI agents

In `@CMakeLists.txt`:
- Line 14: The commented out change to the CMake dependency (the line containing
find_package(Ceres REQUIRED)) is unrelated to the PR topic and should be removed
or isolated; either restore the original find_package(Ceres REQUIRED) line in
CMakeLists.txt or move this change into its own commit/PR with a clear rationale
so the current PR remains focused on the friend/impl function visibility
changes.

[coderabbitai]

⚠️ Potential issue | 🟡 Minor

🧩 Analysis chain

🏁 Script executed:

#!/bin/bash
# Search for Ceres includes and namespace usage
echo "=== Searching for Ceres includes ==="
rg -i 'include.*ceres' --type=cpp --type=c --type=h

echo -e "\n=== Searching for ceres:: namespace usage ==="
rg 'ceres::' --type=cpp --type=c --type=h

echo -e "\n=== Searching for any Ceres references ==="
rg -i 'ceres' --type=cpp --type=c --type=h -l

Repository: Alliance-Algorithm/rmcs_auto_aim_v2

Length of output: 206

---

注释掉 Ceres 依赖与 PR 主题（friend 隐藏 impl 函数）无关。

此更改虽然安全且有效（项目代码中未使用 Ceres），但与 PR 的主要目标无关，建议拆分到单独的提交或 PR 中。

🤖 Prompt for AI Agents

In `@CMakeLists.txt` at line 14, The commented out change to the CMake dependency
(the line containing find_package(Ceres REQUIRED)) is unrelated to the PR topic
and should be removed or isolated; either restore the original
find_package(Ceres REQUIRED) line in CMakeLists.txt or move this change into its
own commit/PR with a clear rationale so the current PR remains focused on the
friend/impl function visibility changes.