规范模块目录和第三方依赖结构

include/SharedGeometry/SharedGeometry.h

@@ -0,0 +1,97 @@
+// SharedGeometry.h
+#ifndef SHARED_GEOMETRY_H
+#define SHARED_GEOMETRY_H
+
+#include <string>
+#include <vector>
+#include <cmath>
+#include <sstream>
+#include <iomanip>
+#include "QuadrupedRobotSimulation/OPERATION.h"
+// 2D向量类
+class Vector2D
+{
+public:
+    double X;
+    double Y;
+
+    Vector2D();
+    Vector2D(double x, double y);
+
+    // 运算符重载
+    Vector2D operator+(const Vector2D &other) const;
+    Vector2D operator-(const Vector2D &other) const;
+    Vector2D operator*(double scalar) const;
+
+    // 几何运算
+    double distanceTo(const Vector2D &other) const;
+    double length() const;
+    Vector2D normalized() const;
+
+    // 静态方法
+    static Vector2D Zero();
+    static double Distance(const Vector2D &v1, const Vector2D &v2);
+    double Length() const { return length(); }
+    Vector2D Normalize() const { return normalized(); }
+
+    // 叉积和点积
+    double Cross(const Vector2D &other) const;
+    double Dot(const Vector2D &other) const;
+};
+
+// 姿态类（简化版）
+class Pose7
+{
+public:
+    double tx;
+    double ty;
+    double tz;
+    double qx;
+    double qy;
+    double qz;
+    double qw;
+
+    Pose7();
+};
+
+// 姿态计算器 - 兼顾两个程序的需求
+class PoseCalculator
+{
+public:
+    /**
+     * 计算两个2D点之间的位置和姿态（四元数）
+     * 适用于CrankSliderMechanism
+     */
+    static Pose7 CalculatePoseAndQuaternion(const Vector2D &start, const Vector2D &end);
+
+    /**
+     * 计算两个2D点之间的位置和姿态（四元数）
+     * 返回double[7]数组，顺序为: [x, y, z, qw, qx, qy, qz]
+     * 适用于BaseClass程序
+     */
+    static std::vector<double> CalculatePoseAndQuaternionArray(double x1, double y1, double x2, double y2);
+
+    /**
+     * 毫米转米
+     */
+    static double MMToM(double MM);
+
+    /**
+     * 四舍五入辅助函数
+     */
+    static double Round(double value, int decimals = 6);
+
+    /**
+     * 数字转字符串
+     */
+    static std::string ToString(double value, int decimals = 6);
+
+    /**
+     * 计算姿态并返回C_ObjStates对象（如果需要）
+     */
+    static C_ObjStates CalculatePoseAndQuaternion_C_ObjStates(const std::string &i,
+                                                              double x1, double y1,
+                                                              double x2, double y2);
+};
+
+#endif // SHARED_GEOMETRY_H