拆分MultiWheelC并新增轨迹投影、Detour状态估计与Stanley跟踪控制

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-08-05 18:07:01 +08:00
parent 7447317812
commit 47973cc94b
38 changed files with 3982 additions and 976 deletions
@@ -0,0 +1,14 @@
+namespace MultiWheelC.StateEstimation
+{
+    /// <summary>
+    /// 为轨迹控制器提供与具体定位来源无关的统一车辆状态读取接口。
+    /// </summary>
+    public interface IVehicleStateProvider
+    {
+        /// <summary>
+        /// 尝试读取当前有效车辆状态；定位不可用或过期时返回false。
+        /// </summary>
+        bool TryGetState(out VehicleState state);
+    }
+}
+