feat: add lateral optimization model

2026-08-04 00:50:10 +08:00
parent 113d0c9d9b
commit c225b17d37
8 changed files with 625 additions and 2 deletions
@@ -0,0 +1,29 @@
+using System;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+/// <summary>Result of the lateral stage; only independently validated paths may be successful.</summary>
+public sealed class LateralPlanningResult
+{
+    public LateralPlanningResult(EmPlanningStatus status, LateralPath path, string failureReason)
+    {
+        if (!Enum.IsDefined(typeof(EmPlanningStatus), status))
+            throw new ArgumentOutOfRangeException(nameof(status));
+
+        bool successful = status == EmPlanningStatus.Success || status == EmPlanningStatus.SuccessWithFallback;
+        if (successful && (path == null || path.Points.Count == 0 || !path.IsIndependentlyValidated))
+            throw new ArgumentException("Successful lateral results require a non-empty independently validated path.", nameof(path));
+        if (!successful && path != null)
+            throw new ArgumentException("Failed lateral results cannot contain a path.", nameof(path));
+
+        Status = status;
+        Path = path;
+        FailureReason = failureReason ?? string.Empty;
+    }
+
+    public EmPlanningStatus Status { get; }
+
+    public LateralPath Path { get; }
+
+    public string FailureReason { get; }
+}