备份

2026-08-14 13:55:19 +08:00
parent 7611deefa3
commit a13e345f83
23 changed files with 144 additions and 596 deletions
@@ -7,6 +7,15 @@ namespace MyParking.Shared
    /// </summary>
    public static class NumericGuard
    {
+        /// <summary>
+        /// 判断指定浮点数是否既不是NaN也不是无穷大。
+        /// </summary>
+        public static bool IsFinite(double value)
+        {
+            return !double.IsNaN(value) &&
+                   !double.IsInfinity(value);
+        }
+
        /// <summary>
        /// 确保指定浮点数不是NaN或无穷大。
        /// </summary>
@@ -14,8 +23,7 @@ namespace MyParking.Shared
            double value,
            string parameterName)
        {
-            if (double.IsNaN(value) ||
-                double.IsInfinity(value))
+            if (!IsFinite(value))
            {
                throw new ArgumentOutOfRangeException(
                    parameterName,
@@ -64,17 +72,31 @@ namespace MyParking.Shared
            Pose2D pose,
            string parameterName)
        {
-            if (double.IsNaN(pose.XMeters) ||
-                double.IsInfinity(pose.XMeters) ||
-                double.IsNaN(pose.YMeters) ||
-                double.IsInfinity(pose.YMeters) ||
-                double.IsNaN(pose.YawRadians) ||
-                double.IsInfinity(pose.YawRadians))
+            if (!IsFinite(pose.XMeters) ||
+                !IsFinite(pose.YMeters) ||
+                !IsFinite(pose.YawRadians))
            {
                throw new ArgumentOutOfRangeException(
                    parameterName,
                    "二维位姿必须由有限值组成。");
            }
        }
+
+        /// <summary>
+        /// 确保二维刚体速度的两个线速度分量和角速度均为有限值。
+        /// </summary>
+        public static void EnsureFinite(
+            Twist2D twist,
+            string parameterName)
+        {
+            if (!IsFinite(twist.VxMetersPerSecond) ||
+                !IsFinite(twist.VyMetersPerSecond) ||
+                !IsFinite(twist.OmegaRadiansPerSecond))
+            {
+                throw new ArgumentOutOfRangeException(
+                    parameterName,
+                    "二维刚体速度必须由有限值组成。");
+            }
+        }
    }
 }