feat: add EM planner contracts

2026-08-03 22:14:37 +08:00
parent 882f80bca0
commit e12eb31205
16 changed files with 477 additions and 0 deletions
@@ -0,0 +1,58 @@
+using System;
+using MultiWheelC.TrajectoryPlanning.CoarsePath;
+using MultiWheelC.TrajectoryPlanning.Mapping;
+using MultiWheelC.TrajectoryPlanning.PathSmoothing;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class EmPlanningRequest
+{
+    public EmPlanningRequest(
+        PathSmoothingResult referencePath,
+        PlanningGridMap map,
+        VehicleParameters vehicle,
+        VehicleMotionState vehicleState,
+        EmPlannerConfiguration configuration,
+        int segmentIndex,
+        EmTrajectory previousTrajectory,
+        DateTimeOffset requestedAtUtc,
+        DateTimeOffset effectiveAtUtc,
+        string outputTrajectoryId,
+        string referencePathId,
+        string previousTrajectoryId,
+        EmMotionModel motionModel)
+    {
+        ReferencePath = referencePath;
+        Map = map;
+        Vehicle = vehicle;
+        VehicleState = vehicleState;
+        Configuration = configuration;
+        SegmentIndex = segmentIndex;
+        PreviousTrajectory = previousTrajectory;
+        RequestedAtUtc = requestedAtUtc;
+        EffectiveAtUtc = effectiveAtUtc;
+        OutputTrajectoryId = outputTrajectoryId;
+        ReferencePathId = referencePathId;
+        PreviousTrajectoryId = previousTrajectoryId;
+        MotionModel = motionModel;
+    }
+
+    public PathSmoothingResult ReferencePath { get; }
+    public PlanningGridMap Map { get; }
+    public VehicleParameters Vehicle { get; }
+    public VehicleMotionState VehicleState { get; }
+    public EmPlannerConfiguration Configuration { get; }
+    public int SegmentIndex { get; }
+    public EmTrajectory PreviousTrajectory { get; }
+    public DateTimeOffset RequestedAtUtc { get; }
+    public DateTimeOffset EffectiveAtUtc { get; }
+    public string OutputTrajectoryId { get; }
+    public string ReferencePathId { get; }
+    public string PreviousTrajectoryId { get; }
+    public EmMotionModel MotionModel { get; }
+}
+
+// The request owns this DTO contract; Task 2 adds its request-bound settings.
+public sealed partial class EmPlannerConfiguration
+{
+}