feat: add solver-neutral QP contracts

2026-08-03 23:13:56 +08:00
parent 333e047bc4
commit 104081e4a9
9 changed files with 597 additions and 2 deletions
@@ -0,0 +1,48 @@
+using System;
+using MultiWheelC.TrajectoryPlanning.Utils;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class QpSolverSettings
+{
+    public QpSolverSettings(
+        int maximumIterations,
+        double absoluteTolerance,
+        double relativeTolerance,
+        TimeSpan timeLimit,
+        bool enableWarmStart,
+        bool enablePolishing,
+        bool enableNativeVerboseOutput)
+    {
+        if (maximumIterations <= 0)
+            throw new ArgumentOutOfRangeException(nameof(maximumIterations));
+        if (!NumericGuard.IsPositiveFinite(absoluteTolerance))
+            throw new ArgumentOutOfRangeException(nameof(absoluteTolerance));
+        if (!NumericGuard.IsPositiveFinite(relativeTolerance))
+            throw new ArgumentOutOfRangeException(nameof(relativeTolerance));
+        if (timeLimit <= TimeSpan.Zero)
+            throw new ArgumentOutOfRangeException(nameof(timeLimit));
+
+        MaximumIterations = maximumIterations;
+        AbsoluteTolerance = absoluteTolerance;
+        RelativeTolerance = relativeTolerance;
+        TimeLimit = timeLimit;
+        EnableWarmStart = enableWarmStart;
+        EnablePolishing = enablePolishing;
+        EnableNativeVerboseOutput = enableNativeVerboseOutput;
+    }
+
+    public int MaximumIterations { get; }
+
+    public double AbsoluteTolerance { get; }
+
+    public double RelativeTolerance { get; }
+
+    public TimeSpan TimeLimit { get; }
+
+    public bool EnableWarmStart { get; }
+
+    public bool EnablePolishing { get; }
+
+    public bool EnableNativeVerboseOutput { get; }
+}