添加单车底盘仿真平台并完善运动控制与夹臂功能

2026-07-27 17:47:50 +08:00
parent 580a936a83
commit e6b99c45b3
47 changed files with 4238 additions and 122 deletions
@@ -0,0 +1,25 @@
+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);