Initial commit

srcs/RobotNet10/Shared/RobotNet10.NavigationTune.Shared/Models/CircleScenario.cs

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+namespace RobotNet10.NavigationTune.Shared.Models;
+
+/// <summary>
+/// Circle test scenario (client-side version)
+/// </summary>
+public class CircleScenario : TestScenario
+{
+    public double Radius { get; set; } = 2.0; // meters
+    public double CenterX { get; set; } = 0.0;
+    public double CenterY { get; set; } = 0.0;
+    public double StartAngle { get; set; } = 0.0; // radians
+    public bool Clockwise { get; set; } = true;
+    public double Resolution { get; set; } = 0.05; // meters between points
+
+    public CircleScenario()
+    {
+        Name = $"Circle {Radius}m Radius";
+        Description = $"Robot moves in a circle with radius {Radius}m";
+        Type = TrajectoryType.Circle;
+    }
+
+    public override List<PathPoint> GenerateReferencePath()
+    {
+        var points = new List<PathPoint>();
+        double circumference = 2 * Math.PI * Radius;
+        int numPoints = (int)(circumference / Resolution);
+        double angleStep = 2 * Math.PI / numPoints;
+
+        if (!Clockwise)
+            angleStep = -angleStep;
+
+        var direction = Clockwise ? RobotDirection.FORWARD : RobotDirection.BACKWARD;
+        double distance = 0.0;
+
+        for (int i = 0; i <= numPoints; i++)
+        {
+            double angle = StartAngle + i * angleStep;
+            double x = CenterX + Radius * Math.Cos(angle);
+            double y = CenterY + Radius * Math.Sin(angle);
+
+            distance = i * Resolution;
+            if (distance > circumference) distance = circumference;
+
+            points.Add(new PathPoint
+            {
+                X = x,
+                Y = y,
+                Direction = direction,
+                DistanceFromStart = distance
+            });
+        }
+
+        return points;
+    }
+
+    public override bool IsGoalReached(Pose2D currentPose, double tolerance = 0.05f)
+    {
+        // Check if robot is close to start position
+        double dx = currentPose.X - (CenterX + Radius * Math.Cos(StartAngle));
+        double dy = currentPose.Y - (CenterY + Radius * Math.Sin(StartAngle));
+        double distance = Math.Sqrt(dx * dx + dy * dy);
+        return distance <= tolerance;
+    }
+
+    public override Pose2D GetGoalPose()
+    {
+        // Goal is back at start position
+        double goalX = CenterX + Radius * Math.Cos(StartAngle);
+        double goalY = CenterY + Radius * Math.Sin(StartAngle);
+        double goalTheta = StartAngle + (Clockwise ? Math.PI / 2 : -Math.PI / 2);
+
+        while (goalTheta > Math.PI) goalTheta -= 2 * Math.PI;
+        while (goalTheta < -Math.PI) goalTheta += 2 * Math.PI;
+
+        return new Pose2D(goalX, goalY, goalTheta);
+    }
+}