68 lines
2.1 KiB
C#
68 lines
2.1 KiB
C#
using System;
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namespace MultiWheelC.Control.Allocation
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{
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/// <summary>
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/// 表示发送给旧版多舵轮四轮解算前的有符号速度和前后GCP角度命令。
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/// </summary>
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public readonly struct GcpMotionCommand
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{
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/// <summary>
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/// 创建统一使用m/s和rad的前后几何控制点运动命令。
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/// </summary>
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public GcpMotionCommand(
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double speedMetersPerSecond,
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double frontAngleRadians,
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double rearAngleRadians)
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{
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EnsureFinite(
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speedMetersPerSecond,
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nameof(speedMetersPerSecond));
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EnsureFinite(
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frontAngleRadians,
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nameof(frontAngleRadians));
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EnsureFinite(
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rearAngleRadians,
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nameof(rearAngleRadians));
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SpeedMetersPerSecond =
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speedMetersPerSecond;
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FrontAngleRadians =
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frontAngleRadians;
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RearAngleRadians =
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rearAngleRadians;
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}
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/// <summary>
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/// 获取准备交给底盘的有符号纵向速度，单位为m/s，正值表示前进。
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/// </summary>
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public double SpeedMetersPerSecond { get; }
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/// <summary>
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/// 获取前几何控制点相对车体X轴的目标方向，单位为rad，逆时针为正。
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/// </summary>
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public double FrontAngleRadians { get; }
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/// <summary>
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/// 获取后几何控制点相对车体X轴的目标方向，单位为rad，逆时针为正。
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/// </summary>
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public double RearAngleRadians { get; }
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/// <summary>
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/// 检查底盘中间命令是否为有限值。
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/// </summary>
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private static void EnsureFinite(
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double value,
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string parameterName)
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{
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if (double.IsNaN(value) ||
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double.IsInfinity(value))
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{
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throw new ArgumentOutOfRangeException(
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parameterName,
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"GCP运动命令必须由有限值组成。");
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}
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}
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}
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}
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