修复柯蒂斯控制器依赖引入bug

.claude/settings.local.json

@@ -8,7 +8,9 @@
       "Bash(test -f:*)",
       "Bash(mkdir:*)",
       "Bash(chmod:*)",
-      "Bash(./scripts/archive_bug_fix.sh:*)"
+      "Bash(./scripts/archive_bug_fix.sh:*)",
+      "Bash(cmake --build:*)",
+      "Bash(cmake:*)"
     ],
     "deny": [],
     "ask": []

examples/curtis_path_tracking_demo.cpp

@@ -29,29 +29,29 @@
 using namespace std;
 
 /**
- * @brief 路径点结构
+ * @brief 简单路径点结构（用于演示）
  */
-struct PathPoint {
+struct SimplePathPoint {
     double x;
     double y;
     double targetSpeed;  ///< 目标速度百分比
 
-    PathPoint(double x_, double y_, double speed_ = 30.0)
+    SimplePathPoint(double x_, double y_, double speed_ = 30.0)
         : x(x_), y(y_), targetSpeed(speed_) {}
 };
 
 /**
  * @brief 生成矩形路径
  */
-vector<PathPoint> generateRectanglePath() {
+vector<SimplePathPoint> generateRectanglePath() {
-    vector<PathPoint> path;
+    vector<SimplePathPoint> path;
 
     // 5m x 3m 矩形
-    path.push_back(PathPoint(0.0, 0.0, 30.0));   // 起点
+    path.push_back(SimplePathPoint(0.0, 0.0, 30.0));   // 起点
-    path.push_back(PathPoint(5.0, 0.0, 30.0));   // 直行5米
+    path.push_back(SimplePathPoint(5.0, 0.0, 30.0));   // 直行5米
-    path.push_back(PathPoint(5.0, 3.0, 25.0));   // 右转前进3米
+    path.push_back(SimplePathPoint(5.0, 3.0, 25.0));   // 右转前进3米
-    path.push_back(PathPoint(0.0, 3.0, 25.0));   // 左转前进5米
+    path.push_back(SimplePathPoint(0.0, 3.0, 25.0));   // 左转前进5米
-    path.push_back(PathPoint(0.0, 0.0, 20.0));   // 返回起点
+    path.push_back(SimplePathPoint(0.0, 0.0, 20.0));   // 返回起点
 
     return path;
 }
@@ -59,14 +59,14 @@ vector<PathPoint> generateRectanglePath() {
 /**
  * @brief 生成圆形路径
  */
-vector<PathPoint> generateCirclePath(double radius = 3.0, int points = 36) {
+vector<SimplePathPoint> generateCirclePath(double radius = 3.0, int points = 36) {
-    vector<PathPoint> path;
+    vector<SimplePathPoint> path;
 
     for (int i = 0; i <= points; i++) {
         double angle = 2.0 * M_PI * i / points;
         double x = radius * cos(angle);
         double y = radius * sin(angle);
-        path.push_back(PathPoint(x, y, 25.0));
+        path.push_back(SimplePathPoint(x, y, 25.0));
     }
 
     return path;
@@ -76,7 +76,7 @@ vector<PathPoint> generateCirclePath(double radius = 3.0, int points = 36) {
  * @brief 执行路径跟踪
  */
 bool executePathTracking(CurtisMotorController& curtis,
-                         const vector<PathPoint>& path,
+                         const vector<SimplePathPoint>& path,
                          AGVModel& agv,
                          PathTracker& tracker) {
     if (path.empty()) {
@@ -124,12 +124,7 @@ bool executePathTracking(CurtisMotorController& curtis,
             }
 
             // 获取 AGV 当前状态（这里使用模拟数据，实际应用中应从传感器获取）
-            State currentState;
+            AGVModel::State currentState = agv.getState();
-            currentState.x = agv.getState().x;
-            currentState.y = agv.getState().y;
-            currentState.theta = agv.getState().theta;
-            currentState.v = status.motorSpeed / 100.0;  // 模拟速度
-            currentState.omega = 0.0;
 
             // 计算到目标点的距离
             double dx = targetX - currentState.x;
@@ -173,7 +168,7 @@ bool executePathTracking(CurtisMotorController& curtis,
             }
 
             // 更新 AGV 模型（模拟）
-            ControlInput control;
+            AGVModel::Control control;
             control.v = actualSpeed / 100.0;
             control.delta = steerAngleDeg * M_PI / 180.0;
             agv.update(control, 0.015);  // 15ms
@@ -219,16 +214,14 @@ int main() {
 
     // 创建 AGV 模型（用于模拟）
     AGVModel agv;
-    State initialState;
+    AGVModel::State initialState;
     initialState.x = 0.0;
     initialState.y = 0.0;
     initialState.theta = 0.0;
-    initialState.v = 0.0;
-    initialState.omega = 0.0;
     agv.setState(initialState);
 
     // 创建路径跟踪器
-    PathTracker tracker;
+    PathTracker tracker(agv);
 
     // ============ 2. 连接 ============
     cout << "\n步骤 2: 连接到 Curtis 控制器..." << endl;
@@ -248,7 +241,7 @@ int main() {
     int choice;
     cin >> choice;
 
-    vector<PathPoint> path;
+    vector<SimplePathPoint> path;
     if (choice == 1) {
         path = generateRectanglePath();
         cout << "已选择: 矩形路径" << endl;

include/agv_model.h

@@ -79,10 +79,16 @@ public:
     double getMaxVelocity() const { return max_velocity_; }
     double getMaxSteeringAngle() const { return max_steering_angle_; }
 
+    // 状态管理
+    void setState(const State& state) { state_ = state; }
+    const State& getState() const { return state_; }
+    void update(const Control& control, double dt) { state_ = update(state_, control, dt); }
+
 private:
     double wheelbase_;              // 轮距 (m)
     double max_velocity_;           // 最大速度 (m/s)
     double max_steering_angle_;     // 最大转向角 (rad)
+    State state_;                   // 当前状态
 };
 
 #endif // AGV_MODEL_H