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 +1,32 @@
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class LongitudinalConfiguration
+{
+    public double MaximumForwardSpeedMetersPerSecond { get; set; }
+    public double MaximumReverseSpeedMetersPerSecond { get; set; }
+    public double MaximumAccelerationMetersPerSecondSquared { get; set; }
+    public double MaximumDecelerationMetersPerSecondSquared { get; set; }
+    public double MaximumJerkMetersPerSecondCubed { get; set; }
+    public double MaximumLateralAccelerationMetersPerSecondSquared { get; set; }
+    public double MaximumCurvatureRatePerMeterPerSecond { get; set; }
+    public double StopSpeedToleranceMetersPerSecond { get; set; }
+    public double ZeroSpeedHoldSeconds { get; set; }
+    public LongitudinalWeights Weights { get; set; }
+
+    internal LongitudinalConfiguration Copy()
+    {
+        return new LongitudinalConfiguration
+        {
+            MaximumForwardSpeedMetersPerSecond = MaximumForwardSpeedMetersPerSecond,
+            MaximumReverseSpeedMetersPerSecond = MaximumReverseSpeedMetersPerSecond,
+            MaximumAccelerationMetersPerSecondSquared = MaximumAccelerationMetersPerSecondSquared,
+            MaximumDecelerationMetersPerSecondSquared = MaximumDecelerationMetersPerSecondSquared,
+            MaximumJerkMetersPerSecondCubed = MaximumJerkMetersPerSecondCubed,
+            MaximumLateralAccelerationMetersPerSecondSquared = MaximumLateralAccelerationMetersPerSecondSquared,
+            MaximumCurvatureRatePerMeterPerSecond = MaximumCurvatureRatePerMeterPerSecond,
+            StopSpeedToleranceMetersPerSecond = StopSpeedToleranceMetersPerSecond,
+            ZeroSpeedHoldSeconds = ZeroSpeedHoldSeconds,
+            Weights = Weights == null ? null : Weights.Copy(),
+        };
+    }
+}