feat: 发布 EM 轨迹规划首个版本

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationHandoffAnalyzer.cs

@@ -4,6 +4,7 @@ using MultiWheelC.TrajectoryPlanning.EMPlanner;
 
 namespace MultiWheelC.TrajectoryPlanning.TrajectoryObservation;
 
+/// <summary>描述相邻已发布轨迹在交接处的位置、航向和速度连续性，仅作诊断。</summary>
 public sealed class TrajectoryObservationHandoffMetrics
 {
     internal TrajectoryObservationHandoffMetrics(bool available, double? position, double? referenceS, double? velocity, double? acceleration)
@@ -15,6 +16,7 @@ public sealed class TrajectoryObservationHandoffMetrics
     public double? DeltaAccelerationMetersPerSecondSquared { get; }
 }
 
+/// <summary>计算观察会话中的轨迹交接指标，不参与轨迹发布或控制决策。</summary>
 public sealed class TrajectoryObservationHandoffAnalyzer
 {
     public TrajectoryObservationHandoffMetrics Analyze(EmTrajectory current, EmTrajectory previous, DirectionSegmentView segment)