新增倒车以及项目结构优化

MultiWheelC/Trajectory/TrajectoryProjection.cs

@@ -26,16 +26,16 @@ namespace MultiWheelC.Trajectory
                     "投影线段起点索引不能为负数。");
             }
 
-            EnsureFinite(
+            NumericGuard.EnsureFinite(
                 lateralErrorMeters,
                 nameof(lateralErrorMeters));
-            EnsureFinite(
+            NumericGuard.EnsureFinite(
                 headingErrorRadians,
                 nameof(headingErrorRadians));
-            EnsureFiniteNonNegative(
+            NumericGuard.EnsureFiniteNonNegative(
                 distanceToTrajectoryMeters,
                 nameof(distanceToTrajectoryMeters));
-            EnsureFiniteNonNegative(
+            NumericGuard.EnsureFiniteNonNegative(
                 remainingDistanceMeters,
                 nameof(remainingDistanceMeters));
 
@@ -62,7 +62,7 @@ namespace MultiWheelC.Trajectory
         public TrajectoryPoint ReferencePoint { get; }
 
         /// <summary>
-        /// 获取有符号横向误差，单位为m，参考轨迹位于车辆左侧时为正。
+        /// 获取相对累计弧长增加方向的有符号横向误差，单位为m，参考轨迹位于该方向左侧时为正。
         /// </summary>
         public double LateralErrorMeters { get; }
 
@@ -87,37 +87,5 @@ namespace MultiWheelC.Trajectory
         public double ArcLengthMeters =>
             ReferencePoint.ArcLengthMeters;
 
-        /// <summary>
-        /// 检查数值是否为有限值。
-        /// </summary>
-        private static void EnsureFinite(
-            double value,
-            string parameterName)
-        {
-            if (double.IsNaN(value) ||
-                double.IsInfinity(value))
-            {
-                throw new ArgumentOutOfRangeException(
-                    parameterName,
-                    "轨迹投影参数必须是有限值。");
-            }
-        }
-
-        /// <summary>
-        /// 检查数值是否为非负有限值。
-        /// </summary>
-        private static void EnsureFiniteNonNegative(
-            double value,
-            string parameterName)
-        {
-            EnsureFinite(value, parameterName);
-
-            if (value < 0.0)
-            {
-                throw new ArgumentOutOfRangeException(
-                    parameterName,
-                    "轨迹投影距离不能为负数。");
-            }
-        }
     }
 }