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 +1,33 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class EmTrajectory
+{
+    public EmTrajectory(EmTrajectoryMetadata metadata, IReadOnlyList<EmTrajectoryPoint> points)
+    {
+        if (metadata == null)
+            throw new ArgumentNullException(nameof(metadata));
+        if (points == null)
+            throw new ArgumentNullException(nameof(points));
+        if (points.Count == 0)
+            throw new ArgumentException("A published trajectory requires at least one point.", nameof(points));
+
+        var copy = new List<EmTrajectoryPoint>(points.Count);
+        for (int index = 0; index < points.Count; index++)
+        {
+            if (points[index] == null)
+                throw new ArgumentException("Trajectory points cannot contain null values.", nameof(points));
+            copy.Add(points[index]);
+        }
+
+        Metadata = metadata;
+        Points = new ReadOnlyCollection<EmTrajectoryPoint>(copy);
+    }
+
+    public EmTrajectoryMetadata Metadata { get; }
+
+    public IReadOnlyList<EmTrajectoryPoint> Points { get; }
+}