chore: save current workspace progress

2026-08-09 22:13:18 +08:00
parent 650c2ab0e3
commit 2f4fd15e52
449 changed files with 76593 additions and 971 deletions
@@ -0,0 +1,51 @@
+using MultiWheelC.TrajectoryPlanning.Utils;
+
+namespace MultiWheelC.TrajectoryPlanning.Mapping;
+
+/// <summary>
+/// TwoLeg 检测时刻的纯输入快照。
+///
+/// 单位：位置和两腿局部坐标均为 mm，航向为弧度。该对象不读取检测器或定位模块，确保投影可重复。
+/// </summary>
+public sealed class TwoLegProjectionInput
+{
+    /// <summary>
+    /// 创建 TwoLeg 投影快照。
+    ///
+    /// 参数：hasDetection 表示当前是否检测到目标；detectionWorldX/Y 为检测坐标系原点的世界 mm 坐标；detectionHeadingRadians 为其相对世界坐标系的航向；firstLocalX/Y、secondLocalX/Y 为两腿在检测局部坐标系中的 mm 坐标；radiusMm 为每条腿投影圆半径；diagnostic 为可选诊断文本。
+    /// 注意：hasDetection 为 false 时其余几何参数不会参与有效性校验。
+    /// </summary>
+    public TwoLegProjectionInput(bool hasDetection, float detectionWorldX, float detectionWorldY,
+        double detectionHeadingRadians, float firstLocalX, float firstLocalY,
+        float secondLocalX, float secondLocalY, float radiusMm, string diagnostic = null)
+    {
+        HasDetection = hasDetection; DetectionWorldX = detectionWorldX; DetectionWorldY = detectionWorldY;
+        DetectionHeadingRadians = detectionHeadingRadians; FirstLocalX = firstLocalX; FirstLocalY = firstLocalY;
+        SecondLocalX = secondLocalX; SecondLocalY = secondLocalY; RadiusMm = radiusMm; Diagnostic = diagnostic ?? string.Empty;
+    }
+    /// <summary>检测是否存在。false 时投影结果为 Empty。</summary>
+    public bool HasDetection { get; }
+    /// <summary>检测局部坐标系原点的世界 X 坐标，单位 mm。</summary>
+    public float DetectionWorldX { get; }
+    /// <summary>检测局部坐标系原点的世界 Y 坐标，单位 mm。</summary>
+    public float DetectionWorldY { get; }
+    /// <summary>检测局部坐标系相对世界坐标系的航向，单位弧度。</summary>
+    public double DetectionHeadingRadians { get; }
+    /// <summary>第一条腿在检测局部坐标系的 X 坐标，单位 mm。</summary>
+    public float FirstLocalX { get; }
+    /// <summary>第一条腿在检测局部坐标系的 Y 坐标，单位 mm。</summary>
+    public float FirstLocalY { get; }
+    /// <summary>第二条腿在检测局部坐标系的 X 坐标，单位 mm。</summary>
+    public float SecondLocalX { get; }
+    /// <summary>第二条腿在检测局部坐标系的 Y 坐标，单位 mm。</summary>
+    public float SecondLocalY { get; }
+    /// <summary>投影为圆形障碍物时的半径，单位 mm。</summary>
+    public float RadiusMm { get; }
+    /// <summary>上游检测阶段提供的可选诊断文本；未提供时为空字符串。</summary>
+    public string Diagnostic { get; }
+    /// <summary>未检测到目标时为 true；检测到目标时，所有数值有限且半径非负才为 true。</summary>
+    public bool IsValid
+    {
+        get { return !HasDetection || (NumericGuard.IsFinite(DetectionWorldX) && NumericGuard.IsFinite(DetectionWorldY) && NumericGuard.IsFinite(DetectionHeadingRadians) && NumericGuard.IsFinite(FirstLocalX) && NumericGuard.IsFinite(FirstLocalY) && NumericGuard.IsFinite(SecondLocalX) && NumericGuard.IsFinite(SecondLocalY) && NumericGuard.IsFinite(RadiusMm) && RadiusMm >= 0f); }
+    }
+}