feat: validate EM planner requests

2026-08-03 22:22:44 +08:00
parent e12eb31205
commit b326431d63
16 changed files with 734 additions and 11 deletions
@@ -0,0 +1,28 @@
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class LateralWeights
+{
+    public double ReferenceOffset { get; set; }
+    public double HeadingDeviation { get; set; }
+    public double SecondDerivative { get; set; }
+    public double ThirdDerivative { get; set; }
+    public double Curvature { get; set; }
+    public double CurvatureVariation { get; set; }
+    public double PreviousTrajectory { get; set; }
+    public double RollingTerminal { get; set; }
+
+    internal LateralWeights Copy()
+    {
+        return new LateralWeights
+        {
+            ReferenceOffset = ReferenceOffset,
+            HeadingDeviation = HeadingDeviation,
+            SecondDerivative = SecondDerivative,
+            ThirdDerivative = ThirdDerivative,
+            Curvature = Curvature,
+            CurvatureVariation = CurvatureVariation,
+            PreviousTrajectory = PreviousTrajectory,
+            RollingTerminal = RollingTerminal,
+        };
+    }
+}