备份

2026-08-14 13:55:19 +08:00
parent 7611deefa3
commit a13e345f83
23 changed files with 144 additions and 596 deletions
@@ -90,7 +90,7 @@ namespace MultiWheelC.StateEstimation
                    var rawLongitudinalSpeedMetersPerSecond =
                        (double)actualCarSpeed.Vx;

-                    EnsureFinite(
+                    NumericGuard.EnsureFinite(
                        rawLongitudinalSpeedMetersPerSecond,
                        "电机反馈车体纵向速度");

@@ -205,7 +205,7 @@ namespace MultiWheelC.StateEstimation
            double timestampSeconds,
            out bool hasValidWheelSpeedEstimate)
        {
-            EnsureFiniteNonNegative(
+            NumericGuard.EnsureFiniteNonNegative(
                timestampSeconds,
                nameof(timestampSeconds));

@@ -238,37 +238,5 @@ namespace MultiWheelC.StateEstimation
                deltaTimeSeconds);
        }

-        /// <summary>
-        /// 检查采样时刻是否为非负有限值。
-        /// </summary>
-        private static void EnsureFiniteNonNegative(
-            double value,
-            string parameterName)
-        {
-            EnsureFinite(value, parameterName);
-
-            if (value < 0.0)
-            {
-                throw new ArgumentOutOfRangeException(
-                    parameterName,
-                    "采样时刻必须是非负有限值。");
-            }
-        }
-
-        /// <summary>
-        /// 检查状态输入是否为有限值。
-        /// </summary>
-        private static void EnsureFinite(
-            double value,
-            string parameterName)
-        {
-            if (double.IsNaN(value) ||
-                double.IsInfinity(value))
-            {
-                throw new ArgumentOutOfRangeException(
-                    parameterName,
-                    "车辆状态输入必须是有限值。");
-            }
-        }
    }
 }