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

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+namespace RobotNet10.NavigationTune.Shared.Models;
+
+/// <summary>
+/// Complete test metrics calculated from telemetry data after a tuning test run.
+/// Groups: Tracking Accuracy (bám đường), Smoothness (độ mượt), Efficiency (hiệu quả), and Scores (0–100).
+/// </summary>
+public class TestMetrics
+{
+    /// <summary>Unique identifier for this metrics record.</summary>
+    public Guid Id { get; set; } = Guid.NewGuid();
+
+    /// <summary>Id of the test run this metrics belong to.</summary>
+    public Guid TestRunId { get; set; }
+
+    // --- Tracking Accuracy (độ chính xác bám đường) ---
+
+    /// <summary>Root-mean-square of cross-track error (CTE) in meters. Khoảng cách vuông góc từ robot tới reference path. Mục tiêu &lt; 0.10 m (10 cm).</summary>
+    public double CrossTrackErrorRMS { get; set; }
+
+    /// <summary>Peak (max) cross-track error in meters. Giá trị CTE lớn nhất trong test. Mục tiêu &lt; 0.20 m.</summary>
+    public double CrossTrackErrorPeak { get; set; }
+
+    /// <summary>Mean cross-track error in meters.</summary>
+    public double CrossTrackErrorMean { get; set; }
+
+    /// <summary>Standard deviation of cross-track error in meters. Độ phân tán của lỗi bám đường.</summary>
+    public double CrossTrackErrorStdDev { get; set; }
+
+    /// <summary>Root-mean-square of heading error in radians. Lỗi góc hướng (rad). Mục tiêu tương đương &lt; 10°.</summary>
+    public double HeadingErrorRMS { get; set; }
+
+    /// <summary>Peak (max) heading error in radians.</summary>
+    public double HeadingErrorPeak { get; set; }
+
+    /// <summary>Position error at goal in meters (average over last ~10% of trajectory). Lỗi vị trí tại điểm đích. Mục tiêu &lt; 0.05 m (5 cm).</summary>
+    public double GoalPositionError { get; set; }
+
+    /// <summary>Heading error at goal in radians. Lỗi góc tại điểm đích. Mục tiêu tương đương &lt; 5°.</summary>
+    public double GoalHeadingError { get; set; }
+
+    // --- Smoothness (độ mượt chuyển động) ---
+
+    /// <summary>Standard deviation of linear velocity (m/s). Biến động tốc độ dọc đường. Mục tiêu &lt; 0.1 m/s.</summary>
+    public double VelocityStdDev { get; set; }
+
+    /// <summary>Standard deviation of linear acceleration (m/s²). Biến động gia tốc. Mục tiêu &lt; 0.5 m/s².</summary>
+    public double AccelerationStdDev { get; set; }
+
+    // --- Efficiency (hiệu quả) ---
+
+    /// <summary>Ratio actual path length / reference path length. &gt; 1 = đi dài hơn đường chuẩn. Mục tiêu &lt; 1.15 (115%).</summary>
+    public double PathLengthRatio { get; set; }
+
+    /// <summary>Total time to complete the test in seconds.</summary>
+    public double CompletionTime { get; set; }
+
+    /// <summary>Average linear speed during test in m/s.</summary>
+    public double AverageSpeed { get; set; }
+
+    /// <summary>Maximum linear speed during test in m/s.</summary>
+    public double MaxSpeed { get; set; }
+
+    // --- Scores (0–100) ---
+
+    /// <summary>Overall score 0–100. Weighted: Tracking 50%, Smoothness 30%, Efficiency 20%.</summary>
+    public double OverallScore { get; set; }
+
+    /// <summary>Tracking accuracy score 0–100 (CTE, heading, goal error).</summary>
+    public double TrackingScore { get; set; }
+
+    /// <summary>Smoothness score 0–100 (velocity stddev, acceleration stddev).</summary>
+    public double SmoothnessScore { get; set; }
+
+    /// <summary>Efficiency score 0–100 (path length ratio).</summary>
+    public double EfficiencyScore { get; set; }
+
+    /// <summary>True if all acceptance criteria are met (CTE RMS/peak, heading, goal error, path length ratio).</summary>
+    public bool PassedCriteria { get; set; }
+}
+
+/// <summary>
+/// Tracking accuracy metrics: độ chính xác bám đường (CTE, heading, goal error).
+/// </summary>
+public class TrackingAccuracyMetrics
+{
+    /// <summary>RMS cross-track error (m).</summary>
+    public double CrossTrackErrorRMS { get; set; }
+    /// <summary>Peak cross-track error (m).</summary>
+    public double CrossTrackErrorPeak { get; set; }
+    /// <summary>Mean cross-track error (m).</summary>
+    public double CrossTrackErrorMean { get; set; }
+    /// <summary>Std dev cross-track error (m).</summary>
+    public double CrossTrackErrorStdDev { get; set; }
+    /// <summary>RMS heading error (rad).</summary>
+    public double HeadingErrorRMS { get; set; }
+    /// <summary>Peak heading error (rad).</summary>
+    public double HeadingErrorPeak { get; set; }
+    /// <summary>Position error at goal (m).</summary>
+    public double GoalPositionError { get; set; }
+    /// <summary>Heading error at goal (rad).</summary>
+    public double GoalHeadingError { get; set; }
+}
+
+/// <summary>
+/// Smoothness metrics: độ mượt chuyển động (biến động vận tốc, gia tốc).
+/// </summary>
+public class SmoothnessMetrics
+{
+    /// <summary>Std dev of linear velocity (m/s).</summary>
+    public double VelocityStdDev { get; set; }
+    /// <summary>Std dev of linear acceleration (m/s²).</summary>
+    public double AccelerationStdDev { get; set; }
+}
+
+/// <summary>
+/// Efficiency metrics: hiệu quả (quãng đường, thời gian, tốc độ).
+/// </summary>
+public class EfficiencyMetrics
+{
+    /// <summary>Actual path length / reference path length.</summary>
+    public double PathLengthRatio { get; set; }
+    /// <summary>Completion time (s).</summary>
+    public double CompletionTime { get; set; }
+    /// <summary>Average speed (m/s).</summary>
+    public double AverageSpeed { get; set; }
+    /// <summary>Max speed (m/s).</summary>
+    public double MaxSpeed { get; set; }
+}