34 lines
1.2 KiB
C#
34 lines
1.2 KiB
C#
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Output.Comparison;
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/// <summary>Immutable request for comparing a coarse-path baseline with Local G2 output.</summary>
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public sealed class PathSmoothingComparisonRequest
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{
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private static readonly IReadOnlyList<SmoothingMethod> LocalG2OnlyMethods =
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new ReadOnlyCollection<SmoothingMethod>(new[] { SmoothingMethod.LocalG2Quintic });
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public PathSmoothingComparisonRequest(PathSmoothingRequest smoothingRequest)
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{
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SmoothingRequest = CopyRequest(smoothingRequest);
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Methods = LocalG2OnlyMethods;
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}
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public PathSmoothingRequest SmoothingRequest { get; }
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/// <summary>The report always contains the sole supported method, Local G2 quintic.</summary>
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public IReadOnlyList<SmoothingMethod> Methods { get; }
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private static PathSmoothingRequest CopyRequest(PathSmoothingRequest source)
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{
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if (source == null) return null;
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return new PathSmoothingRequest(
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source.CoarsePath,
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source.Segments,
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source.Map,
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source.Vehicle,
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source.Configuration);
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}
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}
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