Initial commit from MyParking project

CommonUsage-MultiVehicleSync/commonusage/Chassis/Wheel.cs

@@ -0,0 +1,56 @@
+using System;
+using System.Collections.Generic;
+using System.Numerics;
+using System.Text;
+using Newtonsoft.Json;
+
+namespace CommonUsage.Chassis
+{
+    public class Wheel
+    {
+	    public Wheel(Vector2 position, Action<float> speedWriter, Func<float> speedReader)
+	    {
+		    PhysicalPosition = Position = position;
+			SpeedWriter = speedWriter;
+			SpeedReader = speedReader;
+	    }
+
+	    public void WriteSpeed(float speed)
+	    {
+		    SpeedWriter.Invoke(_sendSpeed = speed);
+        }
+
+        public float GetSendSpeed()
+        {
+            return _sendSpeed;
+        }
+
+	    public float ReadSpeed()
+	    {
+		    return SpeedReader();
+	    }
+
+        // PhysicalPosition ===(chassis transform)===> Position
+		// useful in dual agv coordination
+        public readonly Vector2 PhysicalPosition;
+        public Vector2 Position;
+
+        public float ZeroDirection = 0;
+
+        [JsonIgnore] public readonly Action<float> SpeedWriter;
+        [JsonIgnore] public readonly Func<float> SpeedReader;
+
+        public float _sendSpeed;
+    }
+
+    public class GeometricControlPoint
+    {
+	    public GeometricControlPoint(Vector2 position)
+	    {
+			Position = position;
+	    }
+
+	    public Vector2 Position;
+	    public float Theta;
+    }
+}