规范模块目录和第三方依赖结构

src/QuadrupedRobotSimulation/BaseClass.cpp

@@ -1,5 +1,5 @@
 // BaseClass.cpp - 修复type_error::create错误
-#include "BaseClass.h"
+#include "QuadrupedRobotSimulation/BaseClass.h"
 
 // 为nlohmann/json添加std::optional支持
 namespace nlohmann

src/QuadrupedRobotSimulation/CompleteJsonExporter.cpp

@@ -1,7 +1,7 @@
 // CompleteJsonExporter.cpp
-#include "CompleteJsonExporter.h"
-#include "BaseClass.h"
-#include "KinematicsSimulation.h"
+#include "QuadrupedRobotSimulation/CompleteJsonExporter.h"
+#include "QuadrupedRobotSimulation/BaseClass.h"
+#include "QuadrupedRobotSimulation/KinematicsSimulation.h"
 #include <algorithm>
 #include <cmath>
 #include <functional>
@@ -711,4 +711,4 @@ std::string CompleteJsonExporter::DoubleToString(double value, int precision)
     std::ostringstream oss;
     oss << std::fixed << std::setprecision(precision) << value;
     return oss.str();
-}
+}

src/QuadrupedRobotSimulation/KinematicsHelper.cpp

@@ -1,6 +1,6 @@
 // KinematicsHelper.cpp
-#include "KinematicsHelper.h"
-#include "RobotConfig.hpp"
+#include "QuadrupedRobotSimulation/KinematicsHelper.h"
+#include "QuadrupedRobotSimulation/RobotConfig.hpp"
 #include <iostream>
 #include <sstream>
 #include <iomanip>
@@ -317,4 +317,4 @@ RobotGaitRequest KinematicsHelper::LoadAndValidateJson(const std::string &jsonIn
         std::cerr << "Error parsing JSON: " << e.what() << std::endl;
         return CreateDefaultRequest();
     }
-}
+}

src/QuadrupedRobotSimulation/KinematicsReverse.cpp

@@ -1,7 +1,7 @@
 // KinematicsReverse.cpp
-#include "KinematicsReverse.h"
-#include "graph_utils.hpp"
-#include "RobotConfig.hpp"
+#include "QuadrupedRobotSimulation/KinematicsReverse.h"
+#include "QuadrupedRobotSimulation/graph_utils.hpp"
+#include "QuadrupedRobotSimulation/RobotConfig.hpp"
 
 #include <iostream>
 #include <sstream>
@@ -1285,4 +1285,4 @@ void ReverseKinematicsCalculator::debugPrintFinalJson(const std::vector<C_ObjSta
         std::cout << "    四元数: [" << obj.qx << ", " << obj.qy << ", "
                   << obj.qz << ", " << obj.qw << "]\n";
     }
-}
+}

src/QuadrupedRobotSimulation/KinematicsSimulation.cpp

@@ -1,6 +1,6 @@
 // KinematicsSimulation.cpp
-#include "CompleteJsonExporter.h"
-#include "KinematicsSimulation.h"
+#include "QuadrupedRobotSimulation/CompleteJsonExporter.h"
+#include "QuadrupedRobotSimulation/KinematicsSimulation.h"
 #include <functional>
 #include <numeric>
 #include <iomanip>
@@ -1356,4 +1356,4 @@ std::vector<double> QuadrupedRobotSimulation::ShiftArray(const std::vector<doubl
         result[(i + shiftFrames) % array.size()] = array[i];
     }
     return result;
-}
+}

src/QuadrupedRobotSimulation/RobotConfig.cpp

@@ -1,4 +1,4 @@
-#include "RobotConfig.hpp"
+#include "QuadrupedRobotSimulation/RobotConfig.hpp"
 // 统一的更新函数：手动从JSON更新现有对象
 RequestParameters &RequestParameters::updateFromJson(const nlohmann::json &j, RequestParameters &req_param)
 {
@@ -843,4 +843,4 @@ bool RequestParameters::saveToFile(const std::string &filename) const
     {
         return false;
     }
-}
+}

src/QuadrupedRobotSimulation/SharedGeometry.cpp

@@ -1,5 +1,5 @@
 // SharedGeometry.cpp
-#include "SharedGeometry.h"
+#include "SharedGeometry/SharedGeometry.h"
 #include <stdexcept>
 #include <cmath>
 #include <algorithm>
@@ -208,4 +208,4 @@ C_ObjStates PoseCalculator::CalculatePoseAndQuaternion_C_ObjStates(const std::st
     c_ObjStates.qw = ToString(qw);
 
     return c_ObjStates;
-}
+}