feat: validate EM planner requests

2026-08-03 22:22:44 +08:00
parent e12eb31205
commit b326431d63
16 changed files with 734 additions and 11 deletions
@@ -0,0 +1,22 @@
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class LateralConfiguration
+{
+    public double MaximumLateralStepPerIterationMeters { get; set; }
+    public double MaximumLateralSlope { get; set; }
+    public double MaximumLateralSecondDerivativePerMeter { get; set; }
+    public double MaximumLateralThirdDerivativePerSquareMeter { get; set; }
+    public LateralWeights Weights { get; set; }
+
+    internal LateralConfiguration Copy()
+    {
+        return new LateralConfiguration
+        {
+            MaximumLateralStepPerIterationMeters = MaximumLateralStepPerIterationMeters,
+            MaximumLateralSlope = MaximumLateralSlope,
+            MaximumLateralSecondDerivativePerMeter = MaximumLateralSecondDerivativePerMeter,
+            MaximumLateralThirdDerivativePerSquareMeter = MaximumLateralThirdDerivativePerSquareMeter,
+            Weights = Weights == null ? null : Weights.Copy(),
+        };
+    }
+}