feat: add solver-neutral QP contracts

2026-08-03 23:13:56 +08:00
parent 333e047bc4
commit 104081e4a9
9 changed files with 597 additions and 2 deletions
@@ -0,0 +1,68 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using MultiWheelC.TrajectoryPlanning.Utils;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class QpSolveResult
+{
+    public QpSolveResult(
+        QpSolveStatus status,
+        IReadOnlyList<double> primal,
+        double objective,
+        double primalResidual,
+        double dualResidual,
+        int iterations,
+        TimeSpan solveTime,
+        string nativeStatus,
+        string diagnostic)
+    {
+        if (!Enum.IsDefined(typeof(QpSolveStatus), status))
+            throw new ArgumentOutOfRangeException(nameof(status));
+        if (primal == null)
+            throw new ArgumentNullException(nameof(primal));
+        if (iterations < 0)
+            throw new ArgumentOutOfRangeException(nameof(iterations));
+        if (solveTime < TimeSpan.Zero)
+            throw new ArgumentOutOfRangeException(nameof(solveTime));
+        if (!NumericGuard.IsFinite(objective) || !NumericGuard.IsFinite(primalResidual) || !NumericGuard.IsFinite(dualResidual))
+            throw new ArgumentOutOfRangeException(nameof(objective), "Solver metrics must be finite.");
+
+        var copiedPrimal = new List<double>(primal.Count);
+        for (int index = 0; index < primal.Count; index++)
+        {
+            if (!NumericGuard.IsFinite(primal[index]))
+                throw new ArgumentOutOfRangeException(nameof(primal), "Primal values must be finite.");
+            copiedPrimal.Add(primal[index]);
+        }
+
+        Status = status;
+        Primal = new ReadOnlyCollection<double>(copiedPrimal);
+        Objective = objective;
+        PrimalResidual = primalResidual;
+        DualResidual = dualResidual;
+        Iterations = iterations;
+        SolveTime = solveTime;
+        NativeStatus = nativeStatus ?? string.Empty;
+        Diagnostic = diagnostic ?? string.Empty;
+    }
+
+    public QpSolveStatus Status { get; }
+
+    public IReadOnlyList<double> Primal { get; }
+
+    public double Objective { get; }
+
+    public double PrimalResidual { get; }
+
+    public double DualResidual { get; }
+
+    public int Iterations { get; }
+
+    public TimeSpan SolveTime { get; }
+
+    public string NativeStatus { get; }
+
+    public string Diagnostic { get; }
+}