Merge commit '0952958af7685646cdbf2a4907c6e2ae59d4d352'

src/Flyshot.Core.Domain/RobotProfile.cs

@@ -3,12 +3,12 @@ using System.Text.Json.Serialization;
 namespace Flyshot.Core.Domain;
 
 /// <summary>
-/// Describes the robot model contract consumed by planning and runtime orchestration.
+/// 描述规划与运行时编排共同使用的机器人模型契约。
 /// </summary>
 public sealed class RobotProfile
 {
     /// <summary>
-    /// Initializes a new robot profile with validated joint limits and coupling metadata.
+    /// 使用已校验的关节约束与耦合元数据初始化机器人画像。
     /// </summary>
     public RobotProfile(
         string name,
@@ -47,7 +47,7 @@ public sealed class RobotProfile
         ArgumentNullException.ThrowIfNull(jointLimits);
         ArgumentNullException.ThrowIfNull(jointCouplings);
 
-        // Snapshot the collections once so downstream layers cannot mutate domain state in place.
+        // 先对集合做一次快照，避免下游直接原地修改领域状态。
         var copiedJointLimits = jointLimits.ToArray();
         var copiedJointCouplings = jointCouplings.ToArray();
 
@@ -66,55 +66,55 @@ public sealed class RobotProfile
     }
 
     /// <summary>
-    /// Gets the robot profile name exposed to the rest of the runtime.
+    /// 获取对运行时其余模块暴露的机器人画像名称。
     /// </summary>
     [JsonPropertyName("name")]
     public string Name { get; }
 
     /// <summary>
-    /// Gets the source path of the robot model file.
+    /// 获取机器人模型文件的来源路径。
     /// </summary>
     [JsonPropertyName("modelPath")]
     public string ModelPath { get; }
 
     /// <summary>
-    /// Gets the active revolute degree-of-freedom count.
+    /// 获取当前生效的旋转关节自由度数量。
     /// </summary>
     [JsonPropertyName("degreesOfFreedom")]
     public int DegreesOfFreedom { get; }
 
     /// <summary>
-    /// Gets the validated per-joint kinematic limits.
+    /// 获取按关节校验后的运动学约束。
     /// </summary>
     [JsonPropertyName("jointLimits")]
     public IReadOnlyList<JointLimit> JointLimits { get; }
 
     /// <summary>
-    /// Gets optional joint coupling metadata parsed from the robot model.
+    /// 获取从机器人模型解析出的可选关节耦合元数据。
     /// </summary>
     [JsonPropertyName("jointCouplings")]
     public IReadOnlyList<JointCoupling> JointCouplings { get; }
 
     /// <summary>
-    /// Gets the servo scheduling period used by the runtime.
+    /// 获取运行时使用的伺服调度周期。
     /// </summary>
     [JsonPropertyName("servoPeriod")]
     public TimeSpan ServoPeriod { get; }
 
     /// <summary>
-    /// Gets the trigger scheduling period used by shot-event alignment.
+    /// 获取飞拍事件对齐使用的触发调度周期。
     /// </summary>
     [JsonPropertyName("triggerPeriod")]
     public TimeSpan TriggerPeriod { get; }
 }
 
 /// <summary>
-/// Describes a single revolute joint limit set required by the planners.
+/// 描述规划器所需的单个旋转关节约束集合。
 /// </summary>
 public sealed class JointLimit
 {
     /// <summary>
-    /// Initializes a validated joint limit record.
+    /// 初始化一个已校验的关节约束记录。
     /// </summary>
     public JointLimit(string jointName, double velocityLimit, double accelerationLimit, double jerkLimit)
     {
@@ -145,37 +145,37 @@ public sealed class JointLimit
     }
 
     /// <summary>
-    /// Gets the joint name associated with the limits.
+    /// 获取该约束对应的关节名称。
     /// </summary>
     [JsonPropertyName("jointName")]
     public string JointName { get; }
 
     /// <summary>
-    /// Gets the velocity limit in joint space units.
+    /// 获取关节空间单位下的速度上限。
     /// </summary>
     [JsonPropertyName("velocityLimit")]
     public double VelocityLimit { get; }
 
     /// <summary>
-    /// Gets the acceleration limit in joint space units.
+    /// 获取关节空间单位下的加速度上限。
     /// </summary>
     [JsonPropertyName("accelerationLimit")]
     public double AccelerationLimit { get; }
 
     /// <summary>
-    /// Gets the jerk limit in joint space units.
+    /// 获取关节空间单位下的跃度上限。
     /// </summary>
     [JsonPropertyName("jerkLimit")]
     public double JerkLimit { get; }
 }
 
 /// <summary>
-/// Describes a joint-coupling rule that must be applied before kinematics or planning.
+/// 描述在运动学计算或轨迹规划前必须应用的关节耦合规则。
 /// </summary>
 public sealed class JointCoupling
 {
     /// <summary>
-    /// Initializes a validated joint-coupling description.
+    /// 初始化一个已校验的关节耦合描述。
     /// </summary>
     public JointCoupling(string slaveJointName, string masterJointName, double multiplier, double offset)
     {
@@ -201,25 +201,25 @@ public sealed class JointCoupling
     }
 
     /// <summary>
-    /// Gets the dependent joint name.
+    /// 获取从属（被驱动）关节名称。
     /// </summary>
     [JsonPropertyName("slaveJointName")]
     public string SlaveJointName { get; }
 
     /// <summary>
-    /// Gets the source joint name.
+    /// 获取主导（驱动）关节名称。
     /// </summary>
     [JsonPropertyName("masterJointName")]
     public string MasterJointName { get; }
 
     /// <summary>
-    /// Gets the coupling multiplier applied to the master joint angle.
+    /// 获取作用在主导关节角度上的耦合倍率。
     /// </summary>
     [JsonPropertyName("multiplier")]
     public double Multiplier { get; }
 
     /// <summary>
-    /// Gets the additive offset applied after the multiplier.
+    /// 获取在耦合倍率之后叠加的偏移量。
     /// </summary>
     [JsonPropertyName("offset")]
     public double Offset { get; }