53 lines
2.6 KiB
C#
53 lines
2.6 KiB
C#
using System;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>
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/// 从已验证轨迹执行状态导出的不可变、控制器中立运动命令。
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/// 只表示带符号纵向速度和 yaw rate；不包含横向车体速度、蟹行、原地旋转、UI 或硬件字段。
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/// </summary>
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public sealed class TrajectoryControlCommand
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{
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/// <summary>创建控制器中立命令。</summary>
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/// <param name="signedLongitudinalVelocity">车体纵向速度，单位 m/s；正数前进、负数倒车，保持制动时必须为 0。</param>
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/// <param name="yawRate">车辆 yaw rate，单位 rad/s；保持制动或完成时必须为 0。</param>
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/// <param name="direction">命令关联的实际行驶方向。</param>
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/// <param name="requestDirectionChange">仅在零速 dwell 完成后的单个更新周期请求方向变更。</param>
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/// <param name="holdBrake">为 <see langword="true"/> 时调用方必须保持零速度和零 yaw rate。</param>
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/// <param name="isTrajectoryComplete">到达 Goal 或 RollingSafetyStop 后为 <see langword="true"/>。</param>
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public TrajectoryControlCommand(double signedLongitudinalVelocity, double yawRate, TravelDirection direction,
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bool requestDirectionChange, bool holdBrake, bool isTrajectoryComplete)
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{
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if (double.IsNaN(signedLongitudinalVelocity) || double.IsInfinity(signedLongitudinalVelocity))
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throw new ArgumentOutOfRangeException(nameof(signedLongitudinalVelocity));
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if (double.IsNaN(yawRate) || double.IsInfinity(yawRate))
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throw new ArgumentOutOfRangeException(nameof(yawRate));
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if (!Enum.IsDefined(typeof(TravelDirection), direction))
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throw new ArgumentOutOfRangeException(nameof(direction));
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SignedLongitudinalVelocity = signedLongitudinalVelocity;
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YawRate = yawRate;
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Direction = direction;
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RequestDirectionChange = requestDirectionChange;
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HoldBrake = holdBrake;
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IsTrajectoryComplete = isTrajectoryComplete;
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}
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/// <summary>权威带符号纵向速度，单位 m/s。</summary>
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public double SignedLongitudinalVelocity { get; }
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/// <summary>逆时针为正的 yaw rate，单位 rad/s。</summary>
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public double YawRate { get; }
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public TravelDirection Direction { get; }
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/// <summary>是否在本次更新请求一次方向切换。</summary>
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public bool RequestDirectionChange { get; }
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/// <summary>是否要求调用方保持制动，不允许轨迹运动。</summary>
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public bool HoldBrake { get; }
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public bool IsTrajectoryComplete { get; }
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}
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