规范模块目录和第三方依赖结构

include/FourBarMechanism/CrankRockingBlockMechanism_Forward.h

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+#ifndef CRANK_ROCKING_BLOCK_MECHANISM_FORWARD_H
+#define CRANK_ROCKING_BLOCK_MECHANISM_FORWARD_H
+
+#include "FourBarMechanism/CrankSliderMechanism.h"
+#include <vector>
+#include <string>
+#include <map>
+#include <memory>
+
+// 曲柄摇块机构（正解）
+class CrankRockingBlockMechanism_Forward
+{
+private:
+    std::string name;
+    MechanismType type;
+    MechanismParameters parameters;
+
+    // 轨迹数据
+    std::vector<Vector2D> trajectoryB;       // 滑块B的轨迹
+    std::vector<Vector2D> crankCirclePoints; // 曲柄端点A的轨迹
+    std::vector<Vector2D> rockerTrajectory;  // 摇块轨迹
+
+    // 性能统计
+    int frameCount;
+    SimpleTimer timer;
+
+    // 配置参数
+    double thetaADelta;
+    double thetaAValueFactor;
+    int thetaAFlip;
+
+public:
+    CrankRockingBlockMechanism_Forward();
+
+    // 基本属性
+    std::string getName() const;
+    MechanismType getType() const;
+    MechanismParameters getParameters() const;
+    void setParameters(const MechanismParameters &params);
+
+    // 设置连杆长度
+    void setLink(double OA, double AB, double OC);
+    void setOA(double length);
+    void setAB(double length);
+    void setOC(double distance);
+
+    // 配置方法
+    void setThetaADelta(double delta);
+    void setThetaAValueFactor(double factor);
+    void setThetaAFlip(int flip);
+
+    // 主要计算函数
+    MechanismState calculate(double crankAngleDeg);
+
+    // 获取输入范围
+    std::pair<double, double> getInputRange();
+
+    // 轨迹相关
+    std::vector<Vector2D> getTrajectoryPoints() const;
+    std::vector<Vector2D> getCrankCirclePoints() const;
+    std::vector<Vector2D> getRockerTrajectory() const;
+    void clearTrajectory();
+
+    // 参数验证
+    ValidationResult validateParameters();
+
+    // 状态信息
+    std::string getStatusText();
+
+    // 获取配置参数
+    double getThetaADelta() const;
+    double getThetaAValueFactor() const;
+    int getThetaAFlip() const;
+    double getOA() const;
+    double getAB() const;
+    double getOC() const;
+
+private:
+    Vector2D calculatePointB(const Vector2D &A, const Vector2D &C, double AB);
+    void checkLimitPositions(MechanismState &state, const Vector2D &A,
+                             const Vector2D &B, const Vector2D &C,
+                             double OA, double AB, double OC);
+    double normalizeAngle(double angle);
+    std::pair<double, double> getValidCrankRange() const;
+    bool checkFullRotationCondition(double OA, double AB, double OC) const;
+
+    // 辅助方法
+    double degreesToRadians(double degrees) const;
+    double radiansToDegrees(double radians) const;
+    std::string formatDouble(double value, int precision = 3) const;
+};
+
+#endif // CRANK_ROCKING_BLOCK_MECHANISM_FORWARD_H

include/FourBarMechanism/CrankRockingBlockMechanism_Inverse.h

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+#ifndef CRANK_ROCKING_BLOCK_MECHANISM_INVERSE_H
+#define CRANK_ROCKING_BLOCK_MECHANISM_INVERSE_H
+
+#include "FourBarMechanism/CrankSliderMechanism.h"
+#include <vector>
+#include <string>
+#include <map>
+#include <memory>
+
+// 曲柄摇块机构（逆解）
+class CrankRockingBlockMechanism_Inverse
+{
+private:
+    std::string name;
+    MechanismType type;
+    MechanismParameters parameters;
+    std::vector<Vector2D> trajectoryPoints;
+
+public:
+    CrankRockingBlockMechanism_Inverse();
+
+    // 基本属性
+    std::string getName() const;
+    MechanismType getType() const;
+    MechanismParameters getParameters() const;
+    void setParameters(const MechanismParameters &params);
+
+    // 设置连杆长度
+    void setLink(double OA, double AB, double OC);
+    void setOA(double length);
+    void setAB(double length);
+    void setOC(double distance);
+
+    // 主要计算函数
+    MechanismState calculate(double acDistance);
+
+    // 获取输入范围
+    std::pair<double, double> getInputRange();
+
+    // 轨迹相关
+    std::vector<Vector2D> getTrajectoryPoints() const;
+    void clearTrajectory();
+
+    // 参数验证
+    ValidationResult validateParameters();
+
+    // 状态信息
+    std::string getStatusText();
+
+private:
+    std::pair<double, double> getACRange() const;
+};
+
+#endif // CRANK_ROCKING_BLOCK_MECHANISM_INVERSE_H

include/FourBarMechanism/CrankSliderMechanism.h

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+// mechanism_simulation.h
+#ifndef MECHANISM_SIMULATION_H
+#define MECHANISM_SIMULATION_H
+
+#include <string>
+#include <vector>
+#include <map>
+#include <cmath>
+#include <chrono>
+#include <memory>
+#include "SharedGeometry/SharedGeometry.h" // 包含共享的几何类
+// 定义常数
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+// // 前向声明
+// class Vector2D;
+// class Pose7;
+// class PoseCalculator;
+struct MechanismParameters;
+struct MechanismState;
+struct ValidationResult;
+class SimpleTimer;
+class CrankSliderMechanism;
+
+// 机构类型枚举
+enum class MechanismType
+{
+    Unknown = 0,
+    CrankSlider = 1,               // 曲柄滑块机构
+    FourBar = 2,                   // 四杆机构
+    CrankRockingBlock = 3,         // 曲柄摇块机构（逆解）
+    CrankRockingBlock_Forward = 4, // 曲柄摇块机构（正解）
+};
+
+// 机制参数结构体
+struct MechanismParameters
+{
+    double CrankLength2;
+    double ConnectingRodLength2;
+    double SliderOffset2;
+    double InputValue;
+    double AngularVelocity;
+
+    // 四杆机构参数
+    double L1; // 曲柄
+    double L2; // 连杆
+    double L3; // 摇杆
+    double L4; // 机架
+
+    MechanismParameters();
+};
+
+// 机制状态结构体
+struct MechanismState
+{
+    std::map<std::string, Vector2D> Points;
+    std::map<std::string, Pose7> Poses;
+    std::map<std::string, double> Angles;
+    double InputValue;
+    std::string ErrorMessage;
+    std::string WarningMessage;
+
+    MechanismState();
+    bool hasError() const;
+    bool hasWarning() const;
+};
+
+// 验证结果结构体
+struct ValidationResult
+{
+    std::vector<std::string> Errors;
+    std::vector<std::string> Warnings;
+
+    bool isValid() const;
+    std::string getCombinedMessage() const;
+};
+
+// 姿态计算器
+// class PoseCalculator
+// {
+// public:
+//     static Pose7 CalculatePoseAndQuaternion(const Vector2D &start, const Vector2D &end);
+// };
+
+// 简单的时间封装
+class SimpleTimer
+{
+private:
+    std::chrono::steady_clock::time_point start;
+
+public:
+    SimpleTimer();
+    void reset();
+    double elapsedSeconds() const;
+};
+
+// 曲柄滑块机构类
+class CrankSliderMechanism
+{
+private:
+    std::string name;
+    MechanismParameters parameters;
+    MechanismType type;
+
+    // 轨迹数据
+    std::vector<Vector2D> trajectoryB;
+    std::vector<Vector2D> sliderTrajectory;
+    std::vector<Vector2D> crankCirclePoints;
+
+    // 性能统计
+    int frameCount;
+    SimpleTimer timer;
+
+    // 配置参数
+    std::string codeBody;
+    std::string l1ABModelName;
+    std::string l2BSModelName;
+    std::string l3SModelName;
+    double thetaADelta;
+    double thetaAValueFactor;
+    int thetaAFlip;
+
+    // 辅助方法
+    double degreesToRadians(double degrees) const;
+    double radiansToDegrees(double radians) const;
+    std::string formatDouble(double value, int precision = 3) const;
+
+public:
+    CrankSliderMechanism();
+    // json calculate(const json &param)
+    // 基本属性访问
+    std::string getName() const;
+    MechanismType getType() const;
+    MechanismParameters getParameters() const;
+
+    void setName(const std::string &newName);
+    void setParameters(const MechanismParameters &params);
+
+    // 设置连杆长度
+    void setLink(double crankLength, double rodLength, double sliderOffset);
+
+    // 配置方法
+    void setThetaADelta(double delta);
+    void setThetaAValueFactor(double factor);
+    void setThetaAFlip(int flip);
+    void setL_AB(double length);
+    void setL_BS(double length);
+    void setS_OFS(double offset);
+    void setCodeBody(const std::string &code);
+    void setL1ABModelName(const std::string &modelName);
+    void setL2BSModelName(const std::string &modelName);
+    void setL3SModelName(const std::string &modelName);
+
+    // 主要计算函数
+    MechanismState calculate(double _angleDeg);
+
+    // 参数验证
+    ValidationResult validateParameters();
+
+    // 获取输入范围
+    std::pair<double, double> getInputRange();
+
+    // 获取轨迹点
+    std::vector<Vector2D> getTrajectoryPoints();
+
+    // 获取滑块轨迹
+    std::vector<Vector2D> getSliderTrajectory() const;
+
+    // 获取曲柄圆轨迹点
+    std::vector<Vector2D> getCrankCirclePoints() const;
+
+    // 清除轨迹
+    void clearTrajectory();
+
+    // 获取状态文本
+    std::string getStatusText();
+
+    // 获取配置参数
+    double getThetaADelta() const;
+    double getThetaAValueFactor() const;
+    int getThetaAFlip() const;
+    double getL_AB() const;
+    double getL_BS() const;
+    double getS_OFS() const;
+    std::string getCodeBody() const;
+    std::string getL1ABModelName() const;
+    std::string getL2BSModelName() const;
+    std::string getL3SModelName() const;
+};
+
+// 工厂函数
+CrankSliderMechanism *createCrankSliderMechanism();
+void deleteCrankSliderMechanism(CrankSliderMechanism *mechanism);
+
+// 智能指针版本（可选）
+using CrankSliderMechanismPtr = std::shared_ptr<CrankSliderMechanism>;
+CrankSliderMechanismPtr createCrankSliderMechanismSmart();
+
+#endif // MECHANISM_SIMULATION_H

include/FourBarMechanism/FourBarMechanism.h

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+// FourBarMechanism.h
+#ifndef FOUR_BAR_MECHANISM_H
+#define FOUR_BAR_MECHANISM_H
+#include "FourBarMechanism/CrankSliderMechanism.h"
+#include <string>
+#include <vector>
+#include <map>
+#include <cmath>
+#include <chrono>
+#include <memory>
+#include "SharedGeometry/SharedGeometry.h"
+
+// 前向声明
+struct MechanismParameters;
+struct MechanismState;
+struct ValidationResult;
+
+// 四杆机构类
+class FourBarMechanism
+{
+private:
+    std::string name;
+    MechanismParameters parameters;
+
+    // 轨迹数据
+    std::vector<Vector2D> trajectoryB;
+    std::vector<Vector2D> trajectoryC;
+    std::vector<Vector2D> crankCirclePoints;
+
+    // 性能统计
+    int frameCount;
+    std::chrono::steady_clock::time_point startTime;
+
+    // 辅助方法
+    double degreesToRadians(double degrees) const;
+    double radiansToDegrees(double radians) const;
+    std::string formatDouble(double value, int precision = 2) const;
+
+    // 内部计算方法
+    bool calculatePointC(const Vector2D &A, const Vector2D &D, const Vector2D &B,
+                         double l2, double l3, Vector2D &C) const;
+    bool checkGrashofCondition() const;
+    bool isShortestLinkCrank() const;
+
+public:
+    FourBarMechanism();
+
+    // 基本属性访问
+    std::string getName() const;
+    MechanismType getType() const;
+    MechanismParameters getParameters() const;
+
+    void setName(const std::string &newName);
+    void setParameters(const MechanismParameters &params);
+
+    // 设置杆件长度
+    void setLink(double l1, double l2, double l3, double l4);
+
+    // 主要计算函数
+    MechanismState calculate(double angleDeg);
+
+    // 参数验证
+    ValidationResult validateParameters();
+
+    // 获取输入范围
+    std::pair<double, double> getInputRange();
+
+    // 获取轨迹点
+    std::vector<Vector2D> getTrajectoryPoints() const;
+    std::vector<Vector2D> getTrajectoryC() const;
+    std::vector<Vector2D> getCrankCirclePoints() const;
+
+    // 清除轨迹
+    void clearTrajectory();
+
+    // 获取状态文本
+    std::string getStatusText();
+
+    // 获取参数
+    double getL1() const;
+    double getL2() const;
+    double getL3() const;
+    double getL4() const;
+};
+
+// 工厂函数
+FourBarMechanism *createFourBarMechanism();
+void deleteFourBarMechanism(FourBarMechanism *mechanism);
+
+// 智能指针版本
+using FourBarMechanismPtr = std::shared_ptr<FourBarMechanism>;
+FourBarMechanismPtr createFourBarMechanismSmart();
+
+#endif // FOUR_BAR_MECHANISM_H

include/FourBarMechanism/SliderCrankMechanism.h

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+// SliderCrankMechanism.h
+#ifndef SLIDER_CRANK_MECHANISM_H
+#define SLIDER_CRANK_MECHANISM_H
+#include "FourBarMechanism/CrankSliderMechanism.h"
+#include <string>
+#include <vector>
+#include <map>
+#include <cmath>
+#include "SharedGeometry/SharedGeometry.h"
+// 解模式枚举
+enum class SolutionMode
+{
+    Auto = 0,
+    Solution1 = 1,
+    Solution2 = 2
+};
+
+// 机制参数结构体（扩展版本）
+struct MechanismParametersExt
+{
+    double CrankLength;
+    double ConnectingRodLength;
+    double SliderOffset;
+    double InputValue;
+    double AngularVelocity;
+    SolutionMode SolutionMode;
+    std::pair<double, double> CrankAngleRange1;
+    std::pair<double, double> CrankAngleRange2;
+
+    MechanismParametersExt();
+};
+// 解模式枚举
+
+// 曲柄滑块机构逆解类
+class SliderCrankMechanism
+{
+private:
+    std::string name;
+    MechanismParametersExt parameters;
+
+    // 轨迹数据
+    std::vector<Vector2D> trajectoryB;
+    std::vector<Vector2D> sliderTrajectory;
+    std::vector<Vector2D> trajectoryBAlt;
+
+    // 辅助方法
+    double degreesToRadians(double degrees) const;
+    double radiansToDegrees(double radians) const;
+    std::string formatDouble(double value, int precision = 3) const;
+    double clamp(double value, double min, double max) const;
+
+    // 计算滑块范围
+    std::pair<double, double> calculateSliderRange();
+
+public:
+    SliderCrankMechanism();
+
+    // 基本属性访问
+    std::string getName() const;
+    MechanismType getType() const;
+    MechanismParametersExt getParameters() const;
+
+    void setName(const std::string &newName);
+    void setParameters(const MechanismParametersExt &params);
+
+    // 设置连杆长度
+    void setLink(double crankLength, double rodLength, double sliderOffset);
+
+    // 设置解模式
+    void setSolutionMode(SolutionMode mode);
+
+    // 主要计算函数（逆解）
+    MechanismState calculate(double sliderX);
+
+    // 参数验证
+    ValidationResult validateParameters();
+
+    // 获取输入范围
+    std::pair<double, double> getInputRange();
+
+    // 获取轨迹点
+    std::vector<Vector2D> getTrajectoryPoints();
+    std::vector<Vector2D> getSliderTrajectory() const;
+    std::vector<Vector2D> getAlternativeTrajectory() const;
+
+    // 清除轨迹
+    void clearTrajectory();
+
+    // 获取状态文本
+    std::string getStatusText();
+};
+
+// 工厂函数
+SliderCrankMechanism *createSliderCrankMechanism();
+void deleteSliderCrankMechanism(SliderCrankMechanism *mechanism);
+
+// 智能指针版本
+using SliderCrankMechanismPtr = std::shared_ptr<SliderCrankMechanism>;
+SliderCrankMechanismPtr createSliderCrankMechanismSmart();
+
+#endif // SLIDER_CRANK_MECHANISM_H