Initial commit

srcs/RobotNet10/Commons/RobotNet10.GlobalPathPlanner/Model/AStarNode.cs

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+namespace RobotNet10.GlobalPathPlanner.Model;
+
+public class AStarNode
+{
+    public Guid Id { get; set; }
+    public double X { get; set; }
+    public double Y { get; set; }
+    public double Cost { get; set; }
+    public double Heuristic { get; set; }
+    public double TotalCost => Cost + Heuristic;
+    public string? Name { get; set; }
+    public AStarNode? Parent { get; set; }
+    public List<AStarNode> NegativeNodes { get; set; } = [];
+
+    public override bool Equals(object? obj)
+    {
+        if (obj is AStarNode other)
+            return Id == other.Id;
+        return false;
+    }
+
+    public override int GetHashCode()
+    {
+        return HashCode.Combine(Id);
+    }
+}

srcs/RobotNet10/Commons/RobotNet10.GlobalPathPlanner/Model/GlobalEdge.cs

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+namespace RobotNet10.GlobalPathPlanner.Model;
+
+public record GlobalEdge
+{
+    public Guid Id { get; set; }
+    public Guid MapId { get; set; }
+    public Guid StartNodeId { get; set; }
+    public Guid EndNodeId { get; set; }
+    public int Degree { get; set; }
+    public double ControlPoint1X { get; set; }
+    public double ControlPoint1Y { get; set; }
+    public double ControlPoint2X { get; set; }
+    public double ControlPoint2Y { get; set; }
+}

srcs/RobotNet10/Commons/RobotNet10.GlobalPathPlanner/Model/GlobalNode.cs

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+namespace RobotNet10.GlobalPathPlanner.Model;
+
+public class GlobalNode
+{
+    public Guid Id { get; set; }
+    public Guid MapId { get; set; }
+    public string? Name { get; set; }
+    public double X { get; set; }
+    public double Y { get; set; }
+    public Orientation Orientation { get; set; }
+    public override string ToString() => Name ?? typeof(GlobalNode).ToString();
+    // Tính khoảng cách giữa 2 điểm
+    public double DistanceTo(GlobalNode other)
+    {
+        double dx = X - other.X;
+        double dy = Y - other.Y;
+        return Math.Sqrt(dx * dx + dy * dy);
+    }
+}

srcs/RobotNet10/Commons/RobotNet10.GlobalPathPlanner/Model/KDTreeNode.cs

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+namespace RobotNet10.GlobalPathPlanner.Model;
+
+/// <summary>
+/// Represents a node in the KD-Tree structure.
+/// Immutable to prevent structural corruption.
+/// </summary>
+/// <remarks>
+/// Initializes a new KD-Tree node.
+/// </remarks>
+public class KDTreeNode(GlobalNode node, int axis, KDTreeNode? left = null, KDTreeNode? right = null)
+{
+    /// <summary>
+    /// The spatial node stored at this tree node.
+    /// </summary>
+    public GlobalNode Node { get; } = node ?? throw new ArgumentNullException(nameof(node));
+
+    /// <summary>
+    /// Left child (contains points with smaller values along the split axis).
+    /// </summary>
+    public KDTreeNode? Left { get; } = left;
+
+    /// <summary>
+    /// Right child (contains points with larger values along the split axis).
+    /// </summary>
+    public KDTreeNode? Right { get; } = right;
+
+    /// <summary>
+    /// The axis used for splitting: 0 for X, 1 for Y.
+    /// </summary>
+    public int Axis { get; } = axis;
+}

srcs/RobotNet10/Commons/RobotNet10.GlobalPathPlanner/Model/Orientation.cs

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+namespace RobotNet10.GlobalPathPlanner.Model;
+
+public enum Orientation
+{
+    FORWARD,
+    BACKWARD,
+    NONE
+}

srcs/RobotNet10/Commons/RobotNet10.GlobalPathPlanner/Model/SSEAStarNode.cs

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+namespace RobotNet10.GlobalPathPlanner.Model;
+
+public class SSEAStarNode
+{
+    public Guid Id { get; set; }
+    public double X { get; set; }
+    public double Y { get; set; }
+    public Orientation Orientation { get; set; }
+    public double Cost { get; set; }
+    public double Heuristic { get; set; }
+    public double TotalCost => Cost + Heuristic;
+    public string? Name { get; set; }
+    public SSEAStarNode? Parent { get; set; }
+    public List<SSEAStarNode> NegativeNodes { get; set; } = [];
+
+    public override bool Equals(object? obj)
+    {
+        if (obj is SSEAStarNode other)
+            return Id == other.Id && Orientation == other.Orientation;
+        return false;
+    }
+
+    public override int GetHashCode()
+    {
+        return HashCode.Combine(Id, Orientation);
+    }
+}