打通新版Stanley轨迹跟踪闭环并补充实验测试与数据分析脚本

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-08-06 15:14:12 +08:00
parent 47973cc94b
commit 19b1e49189
27 changed files with 3482 additions and 22 deletions
@@ -1,9 +1,67 @@
-// 表示发送给底盘前的中间命令
-// public readonly struct GcpMotionCommand
-// {
-//     public double SpeedMetersPerSecond { get; }
+using System;

-//     public double FrontAngleRadians { get; }
+namespace MultiWheelC.Control.Allocation
+{
+    /// <summary>
+    /// 表示发送给旧版多舵轮四轮解算前的有符号速度和前后GCP角度命令。
+    /// </summary>
+    public readonly struct GcpMotionCommand
+    {
+        /// <summary>
+        /// 创建统一使用m/s和rad的前后几何控制点运动命令。
+        /// </summary>
+        public GcpMotionCommand(
+            double speedMetersPerSecond,
+            double frontAngleRadians,
+            double rearAngleRadians)
+        {
+            EnsureFinite(
+                speedMetersPerSecond,
+                nameof(speedMetersPerSecond));
+            EnsureFinite(
+                frontAngleRadians,
+                nameof(frontAngleRadians));
+            EnsureFinite(
+                rearAngleRadians,
+                nameof(rearAngleRadians));

-//     public double RearAngleRadians { get; }
-// }
+            SpeedMetersPerSecond =
+                speedMetersPerSecond;
+            FrontAngleRadians =
+                frontAngleRadians;
+            RearAngleRadians =
+                rearAngleRadians;
+        }
+
+        /// <summary>
+        /// 获取准备交给底盘的有符号纵向速度，单位为m/s，正值表示前进。
+        /// </summary>
+        public double SpeedMetersPerSecond { get; }
+
+        /// <summary>
+        /// 获取前几何控制点相对车体X轴的目标方向，单位为rad，逆时针为正。
+        /// </summary>
+        public double FrontAngleRadians { get; }
+
+        /// <summary>
+        /// 获取后几何控制点相对车体X轴的目标方向，单位为rad，逆时针为正。
+        /// </summary>
+        public double RearAngleRadians { get; }
+
+        /// <summary>
+        /// 检查底盘中间命令是否为有限值。
+        /// </summary>
+        private static void EnsureFinite(
+            double value,
+            string parameterName)
+        {
+            if (double.IsNaN(value) ||
+                double.IsInfinity(value))
+            {
+                throw new ArgumentOutOfRangeException(
+                    parameterName,
+                    "GCP运动命令必须由有限值组成。");
+            }
+        }
+    }
+}