feat: add EM planner contracts

2026-08-03 22:14:37 +08:00
parent 882f80bca0
commit e12eb31205
16 changed files with 477 additions and 0 deletions
@@ -0,0 +1,28 @@
+using System;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class EmPlanningResult
+{
+    public EmPlanningResult(EmPlanningStatus status, EmTrajectory trajectory, string failureReason)
+    {
+        if (!Enum.IsDefined(typeof(EmPlanningStatus), status))
+            throw new ArgumentOutOfRangeException(nameof(status));
+
+        bool isSuccess = status == EmPlanningStatus.Success || status == EmPlanningStatus.SuccessWithFallback;
+        if (isSuccess && trajectory == null)
+            throw new ArgumentException("Successful results require a trajectory.", nameof(trajectory));
+        if (!isSuccess && trajectory != null)
+            throw new ArgumentException("Only successful results may contain a trajectory.", nameof(trajectory));
+
+        Status = status;
+        Trajectory = trajectory;
+        FailureReason = failureReason ?? string.Empty;
+    }
+
+    public EmPlanningStatus Status { get; }
+
+    public EmTrajectory Trajectory { get; }
+
+    public string FailureReason { get; }
+}