Initial commit

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

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+namespace RobotNet10.NavigationTune.Shared.Models;
+
+/// <summary>
+/// Base class for test scenarios
+/// </summary>
+public abstract class TestScenario
+{
+    public Guid Id { get; set; } = Guid.NewGuid();
+    public string Name { get; set; } = string.Empty;
+    public string Description { get; set; } = string.Empty;
+    public TrajectoryType Type { get; set; }
+    public DateTime CreatedAt { get; set; } = DateTime.UtcNow;
+    public bool IsDefault { get; set; }
+
+    /// <summary>
+    /// Generate reference path for this scenario
+    /// </summary>
+    public abstract List<PathPoint> GenerateReferencePath();
+
+    /// <summary>
+    /// Check if goal is reached
+    /// </summary>
+    public abstract bool IsGoalReached(Pose2D currentPose, double tolerance = 0.05f);
+
+    /// <summary>
+    /// Get goal pose
+    /// </summary>
+    public abstract Pose2D GetGoalPose();
+}
+
+/// <summary>
+/// Trajectory type
+/// </summary>
+public enum TrajectoryType
+{
+    StraightLine = 1,
+    Circle = 2,
+    Square = 3,
+    SCurve = 4,
+    Custom = 99
+}
+
+/// <summary>
+/// Direction for robot movement
+/// </summary>
+public enum RobotDirection
+{
+    FORWARD,
+    BACKWARD
+}
+
+/// <summary>
+/// Point on reference path
+/// </summary>
+public class PathPoint
+{
+    public double X { get; set; }
+    public double Y { get; set; }
+    public RobotDirection Direction { get; set; } = RobotDirection.FORWARD;
+    public double DistanceFromStart { get; set; } // cumulative distance
+}
+
+/// <summary>
+/// Reference path
+/// </summary>
+public class ReferencePath
+{
+    public List<PathPoint> Points { get; set; } = new();
+    public double TotalLength { get; set; }
+
+    public PathPoint? GetClosestPoint(Pose2D pose)
+    {
+        if (Points.Count == 0) return null;
+
+        double minDistance = double.MaxValue;
+        PathPoint? closest = null;
+
+        foreach (var point in Points)
+        {
+            double dx = pose.X - point.X;
+            double dy = pose.Y - point.Y;
+            double distance = Math.Sqrt(dx * dx + dy * dy);
+
+            if (distance < minDistance)
+            {
+                minDistance = distance;
+                closest = point;
+            }
+        }
+
+        return closest;
+    }
+
+    public PathPoint? GetPointAtDistance(double distance)
+    {
+        if (Points.Count == 0) return null;
+        if (distance <= 0) return Points[0];
+        if (distance >= TotalLength) return Points[^1];
+
+        // Find segment containing this distance
+        for (int i = 0; i < Points.Count - 1; i++)
+        {
+            if (distance >= Points[i].DistanceFromStart && distance <= Points[i + 1].DistanceFromStart)
+            {
+                // Interpolate
+                double segmentLength = Points[i + 1].DistanceFromStart - Points[i].DistanceFromStart;
+                double t = (distance - Points[i].DistanceFromStart) / segmentLength;
+
+                return new PathPoint
+                {
+                    X = Points[i].X + t * (Points[i + 1].X - Points[i].X),
+                    Y = Points[i].Y + t * (Points[i + 1].Y - Points[i].Y),
+                    Direction = Points[i].Direction, // Use direction from start point
+                    DistanceFromStart = distance
+                };
+            }
+        }
+
+        return Points[^1];
+    }
+}