添加单车底盘仿真平台并完善运动控制与夹臂功能

Simulation/Models/ManualControlInputDto.cs

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+namespace MyParking.Simulation.Models;
+
+/// <summary>
+/// 网页虚拟遥控器输入，所有输入范围均为-1到1。
+/// </summary>
+public sealed record ManualControlInputDto(
+    double Throttle,
+    double Steering,
+    double SpeedScale,
+    double SteeringScale);

Simulation/Models/SimulationConfigurationDto.cs

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+namespace MyParking.Simulation.Models;
+
+/// <summary>
+/// 离线仿真的车辆数量、车队中心和成员相对布局。
+/// </summary>
+public sealed record SimulationConfigurationDto(
+    int VehicleCount,
+    FleetCenterDto FleetCenter,
+    IReadOnlyList<VehicleLayoutDto> Vehicles);
+
+/// <summary>
+/// 车队中心在世界坐标系中的位姿。
+/// </summary>
+public sealed record FleetCenterDto(
+    double XMeters,
+    double YMeters,
+    double YawRadians);
+
+/// <summary>
+/// 单车车体坐标系在车队中心坐标系中的位姿。
+/// </summary>
+public sealed record VehicleLayoutDto(
+    int VehicleId,
+    double XMeters,
+    double YMeters,
+    double YawRadians);

Simulation/Models/VehicleStateDto.cs

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+namespace MyParking.Simulation.Models;
+
+/// <summary>
+/// 网页绘制单辆停车机器人所需的状态快照。
+/// </summary>
+public sealed record VehicleStateDto(
+    int VehicleId,
+    double XMeters,
+    double YMeters,
+    double YawRadians,
+    double BodyLengthMeters,
+    double BodyWidthMeters,
+    string Mode,
+    bool ModeReady,
+    TwistStateDto TargetBodyTwist,
+    TwistStateDto ActualBodyTwist,
+    IReadOnlyList<WheelStateDto> Wheels);
+
+/// <summary>
+/// 网页显示的二维车体速度快照。
+/// </summary>
+public sealed record TwistStateDto(
+    double VxMetersPerSecond,
+    double VyMetersPerSecond,
+    double OmegaRadiansPerSecond);

Simulation/Models/WheelStateDto.cs

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+namespace MyParking.Simulation.Models;
+
+/// <summary>
+/// 网页绘制单个舵轮所需的状态快照。
+/// </summary>
+public sealed record WheelStateDto(
+    string Name,
+    double XMeters,
+    double YMeters,
+    double TargetAngleDegrees,
+    double ActualAngleDegrees,
+    double TargetSpeedMetersPerSecond,
+    double ActualSpeedMetersPerSecond,
+    bool IsAligned);