ParkingRobot/ClumsyPilot/ParkrobTrajplanner/EMPlanner/Configuration/LateralWeights.cs

namespace MultiWheelC.TrajectoryPlanning.EMPlanner;

/// <summary>
/// 横向 QP 目标函数的权重快照；权重只影响偏好，不放宽安全约束。
/// </summary>
public sealed class LateralWeights
{
    /// <summary>
    /// 惩罚偏离参考线横向偏移的权重；无量纲，默认值 10，必须为非负有限值。
    /// </summary>
    public double ReferenceOffset { get; set; }
    /// <summary>
    /// 惩罚横向偏移一阶导数的权重；无量纲，默认值 1，必须为非负有限值。
    /// </summary>
    public double HeadingDeviation { get; set; }
    /// <summary>
    /// 惩罚横向偏移二阶导数的权重；无量纲，默认值 5，必须为非负有限值。
    /// </summary>
    public double SecondDerivative { get; set; }
    /// <summary>
    /// 惩罚横向偏移三阶导数的权重；无量纲，默认值 10，必须为非负有限值。
    /// </summary>
    public double ThirdDerivative { get; set; }
    /// <summary>
    /// 惩罚由横向解导出的车辆曲率的权重；无量纲，默认值 5，必须为非负有限值。
    /// </summary>
    public double Curvature { get; set; }
    /// <summary>
    /// 惩罚相邻站曲率变化的权重；无量纲，默认值 20，必须为非负有限值。
    /// </summary>
    public double CurvatureVariation { get; set; }
    /// <summary>
    /// 惩罚偏离上一轮横向轨迹的权重；无量纲，默认值 5，必须为非负有限值。
    /// </summary>
    public double PreviousTrajectory { get; set; }
    /// <summary>
    /// 滚动规划末端横向状态的稳定权重；无量纲，默认值 10，必须为非负有限值。
    /// </summary>
    public double RollingTerminal { get; set; }

    /// <summary>
    /// 复制当前横向权重；输入为当前八个标量，输出为无共享可变状态的标量快照，不对数值作校验且不产生失败状态。
    /// </summary>
    internal LateralWeights Copy()
    {
        return new LateralWeights
        {
            ReferenceOffset = ReferenceOffset,
            HeadingDeviation = HeadingDeviation,
            SecondDerivative = SecondDerivative,
            ThirdDerivative = ThirdDerivative,
            Curvature = Curvature,
            CurvatureVariation = CurvatureVariation,
            PreviousTrajectory = PreviousTrajectory,
            RollingTerminal = RollingTerminal,
        };
    }
}