feat: assemble longitudinal ST quadratic programs

2026-08-04 09:21:07 +08:00
parent 62ea9db8cd
commit c01d0d5b47
6 changed files with 642 additions and 0 deletions
@@ -0,0 +1,29 @@
+using System;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+/// <summary>Immutable longitudinal solve result; only successful statuses may expose a candidate profile.</summary>
+public sealed class LongitudinalPlanningResult
+{
+    public LongitudinalPlanningResult(EmPlanningStatus status, LongitudinalCandidate candidate, string failureReason)
+    {
+        if (!Enum.IsDefined(typeof(EmPlanningStatus), status))
+            throw new ArgumentOutOfRangeException(nameof(status));
+        bool successful = status == EmPlanningStatus.Success || status == EmPlanningStatus.SuccessWithFallback;
+        if (successful && candidate == null)
+            throw new ArgumentException("Successful longitudinal results require a candidate.", nameof(candidate));
+        if (!successful && candidate != null)
+            throw new ArgumentException("Failed longitudinal results cannot expose a candidate.", nameof(candidate));
+
+        Status = status;
+        Candidate = candidate == null ? null : new LongitudinalCandidate(candidate.KnotTimes, candidate.S, candidate.U,
+            candidate.A, candidate.J);
+        FailureReason = failureReason ?? string.Empty;
+    }
+
+    public EmPlanningStatus Status { get; }
+
+    public LongitudinalCandidate Candidate { get; }
+
+    public string FailureReason { get; }
+}