增加车队轨迹控制核心与轮组自转模式

MultiWheelC/Control/Allocation/GcpMotionCommand.cs

@@ -1,4 +1,4 @@
-using System;
+using MyParking.Shared;
 
 namespace MultiWheelC.Control.Allocation
 {
@@ -15,13 +15,13 @@ namespace MultiWheelC.Control.Allocation
             double frontAngleRadians,
             double rearAngleRadians)
         {
-            EnsureFinite(
+            NumericGuard.EnsureFinite(
                 speedMetersPerSecond,
                 nameof(speedMetersPerSecond));
-            EnsureFinite(
+            NumericGuard.EnsureFinite(
                 frontAngleRadians,
                 nameof(frontAngleRadians));
-            EnsureFinite(
+            NumericGuard.EnsureFinite(
                 rearAngleRadians,
                 nameof(rearAngleRadians));
 
@@ -48,20 +48,5 @@ namespace MultiWheelC.Control.Allocation
         /// </summary>
         public double RearAngleRadians { get; }
 
-        /// <summary>
-        /// 检查底盘中间命令是否为有限值。
-        /// </summary>
-        private static void EnsureFinite(
-            double value,
-            string parameterName)
-        {
-            if (double.IsNaN(value) ||
-                double.IsInfinity(value))
-            {
-                throw new ArgumentOutOfRangeException(
-                    parameterName,
-                    "GCP运动命令必须由有限值组成。");
-            }
-        }
     }
 }