Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Navigation/CSharp/LocalPlannerConfig.cs

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+namespace RobotNet10.RobotApp.Services.Navigation.CSharp;
+
+public enum ApproachResult
+{
+    /// <summary>
+    /// Approach waypoints đã sinh và prepend thành công
+    /// </summary>
+    ApproachGenerated,
+
+    /// <summary>
+    /// Robot đã trên path, không cần approach
+    /// </summary>
+    AlreadyOnPath,
+
+    /// <summary>
+    /// Robot quá xa path, fallback Rotate cũ
+    /// </summary>
+    TooFarFromPath,
+
+    /// <summary>
+    /// LocalPlanner tắt hoặc path quá ngắn
+    /// </summary>
+    Disabled
+}
+
+public class LocalPlannerConfig
+{
+    /// <summary>
+    /// Bật/tắt Local Planner
+    /// </summary>
+    public bool Enabled { get; set; } = true;
+
+    /// <summary>
+    /// Khoảng cách dưới mức này coi robot đã trên path, không cần approach (m)
+    /// </summary>
+    public double OnPathThreshold { get; set; } = 0.3;
+
+    /// <summary>
+    /// Khoảng cách trên mức này thì fallback Rotate cũ (m)
+    /// </summary>
+    public double MaxApproachDistance { get; set; } = 3.0;
+
+    /// <summary>
+    /// Hệ số tính merge distance: mergeDistance = MergeDistanceGain × distToPath
+    /// </summary>
+    public double MergeDistanceGain { get; set; } = 2.0;
+
+    /// <summary>
+    /// Merge distance tối thiểu (m)
+    /// </summary>
+    public double MergeDistanceMin { get; set; } = 0.3;
+
+    /// <summary>
+    /// Merge distance tối đa (m)
+    /// </summary>
+    public double MergeDistanceMax { get; set; } = 2.0;
+
+    /// <summary>
+    /// Tỷ lệ control arm phía robot (P1): d1 = ratio × dist(P0, P3)
+    /// </summary>
+    public double ControlArmRatioStart { get; set; } = 0.4;
+
+    /// <summary>
+    /// Tỷ lệ control arm phía path (P2): d2 = ratio × dist(P0, P3)
+    /// </summary>
+    public double ControlArmRatioEnd { get; set; } = 0.4;
+
+    /// <summary>
+    /// Bước sample approach curve (m), nên giống PurePursuitConfig.ResolutionSplit
+    /// </summary>
+    public double ResolutionSplit { get; set; } = 0.05;
+}