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 +1,22 @@
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class LongitudinalWeights
+{
+    public double ReferenceSpeed { get; set; }
+    public double Acceleration { get; set; }
+    public double Jerk { get; set; }
+    public double PreviousTrajectory { get; set; }
+    public double TerminalAcceleration { get; set; }
+
+    internal LongitudinalWeights Copy()
+    {
+        return new LongitudinalWeights
+        {
+            ReferenceSpeed = ReferenceSpeed,
+            Acceleration = Acceleration,
+            Jerk = Jerk,
+            PreviousTrajectory = PreviousTrajectory,
+            TerminalAcceleration = TerminalAcceleration,
+        };
+    }
+}