docs: document trajectory execution contracts

ClumsyPilot/ParkrobTrajplanner/TrajectoryExecution/TrajectoryControlAdapter.cs

@@ -2,9 +2,13 @@ using System;
 
 namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
 
-/// <summary>Converts immutable execution state into a controller-neutral longitudinal and yaw command.</summary>
+/// <summary>将不可变执行状态转换为控制器中立的纵向速度和 yaw rate 命令，并在停稳/完成时强制零运动。</summary>
 public sealed class TrajectoryControlAdapter
 {
+    /// <summary>依据选中轨迹点和换向状态创建安全控制命令。</summary>
+    /// <param name="trajectoryPoint">已验证轨迹中的选中点，提供带符号速度、yaw rate 和方向。</param>
+    /// <param name="executionState">不可变执行状态；停零、完成或不允许运动时优先于轨迹点运动字段。</param>
+    /// <returns>常规跟随时保留轨迹点 m/s 和 rad/s；保持或完成时返回零速度、零 yaw rate 和制动命令。</returns>
     public TrajectoryControlCommand CreateCommand(EmTrajectoryPoint trajectoryPoint,
         TrajectoryExecutionState executionState)
     {