增加车队布局与刚体速度分配基础

2026-08-20 17:43:02 +08:00
parent 0d5539e595
commit fea2265e2d
30 changed files with 404 additions and 121 deletions
@@ -0,0 +1,67 @@
+namespace MyParking.Shared
+{
+    // 单车车体系在车队坐标系中的固定位姿。
+    public readonly struct VehicleLayout
+    {
+        public VehicleLayout(int vehicleId, Pose2D poseInFleet)
+        {
+            VehicleId = vehicleId;
+            PoseInFleet = poseInFleet;
+        }
+
+        public int VehicleId { get; }
+
+        public Pose2D PoseInFleet { get; }
+    }
+
+    // 车队参考点及该点在车队坐标系中表达的刚体速度。
+    public readonly struct FleetMotionCommand
+    {
+        public FleetMotionCommand(
+            Point2D referencePointInFleet,
+            Twist2D twistAtReferencePoint)
+        {
+            ReferencePointInFleet = referencePointInFleet;
+            TwistAtReferencePoint = twistAtReferencePoint;
+        }
+
+        public Point2D ReferencePointInFleet { get; }
+
+        public Twist2D TwistAtReferencePoint { get; }
+
+        public static FleetMotionCommand RotateAround(
+            Point2D rotationCenterInFleet,
+            double omegaRadiansPerSecond)
+        {
+            return new FleetMotionCommand(
+                rotationCenterInFleet,
+                new Twist2D(
+                    0.0,
+                    0.0,
+                    omegaRadiansPerSecond));
+        }
+
+        public static FleetMotionCommand Stop()
+        {
+            return new FleetMotionCommand(
+                Point2D.Zero,
+                Twist2D.Zero);
+        }
+    }
+
+    // 分配给指定车辆、在该车车体系中表达的刚体速度。
+    public readonly struct FleetMemberCommand
+    {
+        public FleetMemberCommand(
+            int vehicleId,
+            Twist2D twistInVehicleBody)
+        {
+            VehicleId = vehicleId;
+            TwistInVehicleBody = twistInVehicleBody;
+        }
+
+        public int VehicleId { get; }
+
+        public Twist2D TwistInVehicleBody { get; }
+    }
+}