fix: complete EM observation final review

2026-08-04 17:33:14 +08:00
parent d0e673b573
commit bd7170b611
7 changed files with 655 additions and 50 deletions
@@ -17,6 +17,23 @@ public sealed class TrajectoryObservationSettings
    public double SafetyMarginMeters { get; set; } = 0.05d;
    public double MaximumCurvaturePerMeter { get; set; } = 1d / 1.20d;

+    public TrajectoryObservationSettings CreateValidatedSnapshot()
+    {
+        var snapshot = new TrajectoryObservationSettings
+        {
+            MapPaddingMeters = MapPaddingMeters,
+            MapResolutionMillimeters = MapResolutionMillimeters,
+            ReplanPeriodSeconds = ReplanPeriodSeconds,
+            ObserverPeriodSeconds = ObserverPeriodSeconds,
+            VehicleLengthMeters = VehicleLengthMeters,
+            VehicleWidthMeters = VehicleWidthMeters,
+            SafetyMarginMeters = SafetyMarginMeters,
+            MaximumCurvaturePerMeter = MaximumCurvaturePerMeter,
+        };
+        snapshot.Validate();
+        return snapshot;
+    }
+
    public void Validate()
    {
        EnsurePositiveFinite(MapPaddingMeters, nameof(MapPaddingMeters));