✨ feat: 初始化飞拍替换方案仓库骨架

* 建立 .NET 8 解决方案及分层项目结构
* 添加 Flyshot.Core.Domain 领域模型（机器人、轨迹、运动学）
* 添加 Flyshot.Core.Planning 规划层（ICSP、CubicSpline、采样器）
* 添加 Flyshot.Core.Triggering 触发时序与 IO 时间轴
* 添加 Flyshot.Core.Config 配置兼容与 .robot 解析
* 添加 Flyshot.Server.Host 最小宿主及 /healthz 端点
* 补充单元测试与集成测试项目
* 添加 CLAUDE.md、AGENTS.md、README.md 项目规范

src/Flyshot.Core.Planning/Sampling/TrajectorySampler.cs

@@ -0,0 +1,106 @@
+using Flyshot.Core.Domain;
+using Flyshot.Core.Planning.Kinematics;
+
+namespace Flyshot.Core.Planning.Sampling;
+
+/// <summary>
+/// 从规划轨迹生成稠密关节/笛卡尔采样序列。
+///
+/// 为什么采样周期默认 0.016s？
+/// ---
+/// 真机伺服周期是 8ms（125Hz），但规划层通常以 16ms（约 60Hz）输出到上层。
+/// 0.016 是一个经验默认值，与真机观测到的稠密轨迹间隔一致。
+/// </summary>
+public static class TrajectorySampler
+{
+    /// <summary>
+    /// 生成稠密关节轨迹采样，每行格式：[time, j1, j2, ..., jN]，保留 6 位小数。
+    /// </summary>
+    public static IReadOnlyList<IReadOnlyList<double>> SampleJointTrajectory(
+        PlannedTrajectory trajectory,
+        double samplePeriod = 0.016,
+        int decimals = 6)
+    {
+        var spline = RebuildSpline(trajectory);
+        double duration = trajectory.WaypointTimes[^1];
+        var times = GenerateSampleTimes(duration, samplePeriod);
+        var result = new List<IReadOnlyList<double>>(times.Count);
+
+        foreach (var t in times)
+        {
+            var pos = spline.Evaluate(t);
+            var row = new List<double>(pos.Length + 1);
+            row.Add(Math.Round(t, decimals));
+            foreach (var value in pos)
+            {
+                row.Add(Math.Round(value, decimals));
+            }
+
+            result.Add(row);
+        }
+
+        return result;
+    }
+
+    /// <summary>
+    /// 生成稠密笛卡尔轨迹采样，每行格式：[time, x, y, z, qx, qy, qz, qw]，保留 6 位小数。
+    /// </summary>
+    public static IReadOnlyList<IReadOnlyList<double>> SampleCartesianTrajectory(
+        PlannedTrajectory trajectory,
+        RobotKinematicsModel kinematicsModel,
+        double samplePeriod = 0.016,
+        int decimals = 6)
+    {
+        var spline = RebuildSpline(trajectory);
+        double duration = trajectory.WaypointTimes[^1];
+        var times = GenerateSampleTimes(duration, samplePeriod);
+        var result = new List<IReadOnlyList<double>>(times.Count);
+
+        foreach (var t in times)
+        {
+            var jointPos = spline.Evaluate(t);
+            var pose = RobotKinematics.ForwardKinematics(kinematicsModel, jointPos);
+            var row = new List<double>(pose.Length + 1);
+            row.Add(Math.Round(t, decimals));
+            foreach (var value in pose)
+            {
+                row.Add(Math.Round(value, decimals));
+            }
+
+            result.Add(row);
+        }
+
+        return result;
+    }
+
+    /// <summary>
+    /// 从规划轨迹重建 CubicSplineInterpolator 用于稠密采样。
+    /// </summary>
+    private static CubicSplineInterpolator RebuildSpline(PlannedTrajectory trajectory)
+    {
+        var times = trajectory.WaypointTimes.ToArray();
+        var values = trajectory.PlannedWaypoints.Select(wp => wp.Positions.ToArray()).ToArray();
+        return new CubicSplineInterpolator(times, values);
+    }
+
+    /// <summary>
+    /// 生成采样时间点，强制包含终点。
+    /// </summary>
+    private static IReadOnlyList<double> GenerateSampleTimes(double duration, double samplePeriod)
+    {
+        var times = new List<double>();
+        double t = 0.0;
+        while (t < duration - 1e-12)
+        {
+            times.Add(t);
+            t += samplePeriod;
+        }
+
+        if (times.Count == 0 || Math.Abs(times[^1] - duration) > 1e-12)
+        {
+            times.Add(duration);
+        }
+
+        return times;
+    }
+}