64 lines
2.4 KiB
C#
64 lines
2.4 KiB
C#
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namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
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/// <summary>最终粗路径上的一个稠密连续点；长度、净空和位置使用 m，航向使用 rad，曲率使用 1/m。</summary>
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public sealed class CoarsePathPoint
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{
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/// <summary>
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/// 创建粗路径点。
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/// 参数：xMeters、yMeters 为世界坐标 m；headingRadians 与 unwrappedHeadingRadians 为航向 rad；arcLengthMeters 和 bodyClearanceMeters 为 m；vehicleCurvaturePerMeter 为 1/m。
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/// </summary>
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public CoarsePathPoint(
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double xMeters,
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double yMeters,
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double headingRadians,
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double unwrappedHeadingRadians,
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double arcLengthMeters,
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TravelDirection direction,
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double vehicleCurvaturePerMeter,
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double bodyClearanceMeters,
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bool isGearSwitchPoint,
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CoarsePathPointSource source)
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{
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X = xMeters;
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Y = yMeters;
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Heading = headingRadians;
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UnwrappedHeading = unwrappedHeadingRadians;
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ArcLength = arcLengthMeters;
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Direction = direction;
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VehicleCurvature = vehicleCurvaturePerMeter;
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BodyClearance = bodyClearanceMeters;
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IsGearSwitchPoint = isGearSwitchPoint;
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Source = source;
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}
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/// <summary>世界 X 坐标，单位 m。</summary>
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public double X { get; }
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/// <summary>世界 Y 坐标，单位 m。</summary>
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public double Y { get; }
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/// <summary>归一化后可用于几何查询的车头航向，单位 rad。</summary>
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public double Heading { get; }
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/// <summary>跨越 ±π 后仍连续的车头航向，单位 rad。</summary>
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public double UnwrappedHeading { get; }
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/// <summary>从路径起点累计的弧长，单位 m；必须非负且不递减。</summary>
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public double ArcLength { get; }
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/// <summary>从上一点运动到当前点所在方向段的行驶方向。</summary>
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public TravelDirection Direction { get; }
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/// <summary>车辆在此点采用的恒曲率原语曲率，单位 1/m。</summary>
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public double VehicleCurvature { get; }
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/// <summary>扩大车体到障碍物的保守净空下界，单位 m。</summary>
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public double BodyClearance { get; }
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/// <summary>此点是否为新方向段开始的换向点。</summary>
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public bool IsGearSwitchPoint { get; }
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/// <summary>此点由起点、普通原语或终点截断产生的来源。</summary>
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public CoarsePathPointSource Source { get; }
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}
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