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 SolverConfiguration
+{
+    public int MaximumOuterIterations { get; set; }
+    public int MaximumOsqpIterations { get; set; }
+    public double AbsoluteTolerance { get; set; }
+    public double RelativeTolerance { get; set; }
+    public double StrictResidualTolerance { get; set; }
+    public bool WarmStart { get; set; }
+    public bool Polish { get; set; }
+    public bool NativeVerbose { get; set; }
+
+    internal SolverConfiguration Copy()
+    {
+        return new SolverConfiguration
+        {
+            MaximumOuterIterations = MaximumOuterIterations,
+            MaximumOsqpIterations = MaximumOsqpIterations,
+            AbsoluteTolerance = AbsoluteTolerance,
+            RelativeTolerance = RelativeTolerance,
+            StrictResidualTolerance = StrictResidualTolerance,
+            WarmStart = WarmStart,
+            Polish = Polish,
+            NativeVerbose = NativeVerbose,
+        };
+    }
+}