增加差速电机前馈与控制器曲率预瞄

MultiWheelC/Control/Abstractions/PathTrackingContext.cs

@@ -16,11 +16,15 @@ namespace MultiWheelC.Control.Abstractions
             VehicleState vehicleState,
             TrajectoryProjection projection,
             double controlReferenceSpeedMetersPerSecond,
+            double feedforwardCurvaturePerMeter,
             double deltaTimeSeconds)
         {
             EnsureFinite(
                 controlReferenceSpeedMetersPerSecond,
                 nameof(controlReferenceSpeedMetersPerSecond));
+            EnsureFinite(
+                feedforwardCurvaturePerMeter,
+                nameof(feedforwardCurvaturePerMeter));
             EnsureFinitePositive(
                 deltaTimeSeconds,
                 nameof(deltaTimeSeconds));
@@ -29,6 +33,8 @@ namespace MultiWheelC.Control.Abstractions
             Projection = projection;
             ControlReferenceSpeedMetersPerSecond =
                 controlReferenceSpeedMetersPerSecond;
+            FeedforwardCurvaturePerMeter =
+                feedforwardCurvaturePerMeter;
             DeltaTimeSeconds = deltaTimeSeconds;
         }
 
@@ -66,6 +72,11 @@ namespace MultiWheelC.Control.Abstractions
             Projection.ReferencePoint
                 .CurvaturePerMeter;
 
+        /// <summary>
+        /// 获取沿轨迹点序适量预瞄后专供几何前馈使用的参考曲率，单位为1/m，左弯为正。
+        /// </summary>
+        public double FeedforwardCurvaturePerMeter { get; }
+
         /// <summary>
         /// 获取参考轨迹相对车辆的有符号横向误差，单位为m，轨迹在车辆左侧时为正。
         /// </summary>