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feat: validate EM planner requests

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梁薄云
2026-08-03 22:22:44 +08:00
parent e12eb31205
commit b326431d63
16 changed files with 734 additions and 11 deletions
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ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/VehicleMotionState.cs
-11
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@@ -12,17 +12,6 @@ public sealed class VehicleMotionState
DateTimeOffset capturedAtUtc,
long sequenceId)
{
if (pose == null)
throw new ArgumentNullException(nameof(pose));
ContractNumeric.RequireFinite(pose.X, nameof(pose));
ContractNumeric.RequireFinite(pose.Y, nameof(pose));
ContractNumeric.RequireFinite(pose.Heading, nameof(pose));
ContractNumeric.RequireFinite(signedLongitudinalSpeedMetersPerSecond, nameof(signedLongitudinalSpeedMetersPerSecond));
if (longitudinalAccelerationMetersPerSecondSquared.HasValue)
ContractNumeric.RequireFinite(longitudinalAccelerationMetersPerSecondSquared.Value, nameof(longitudinalAccelerationMetersPerSecondSquared));
if (sequenceId < 0)
throw new ArgumentOutOfRangeException(nameof(sequenceId));
Pose = pose;
SignedLongitudinalSpeedMetersPerSecond = signedLongitudinalSpeedMetersPerSecond;
LongitudinalAccelerationMetersPerSecondSquared = longitudinalAccelerationMetersPerSecondSquared;