feat: add lateral optimization model

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Lateral/LateralPath.cs

@@ -0,0 +1,29 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+/// <summary>Immutable reconstructed lateral path, marked only after independent validation.</summary>
+public sealed class LateralPath
+{
+    public LateralPath(IReadOnlyList<LateralPathPoint> points, bool independentlyValidated)
+    {
+        if (points == null)
+            throw new ArgumentNullException(nameof(points));
+
+        var copy = new List<LateralPathPoint>(points.Count);
+        for (int index = 0; index < points.Count; index++)
+        {
+            if (points[index] == null)
+                throw new ArgumentException("Lateral path points cannot contain null values.", nameof(points));
+            copy.Add(points[index]);
+        }
+        Points = new ReadOnlyCollection<LateralPathPoint>(copy);
+        IsIndependentlyValidated = independentlyValidated;
+    }
+
+    public IReadOnlyList<LateralPathPoint> Points { get; }
+
+    public bool IsIndependentlyValidated { get; }
+}