64 lines
2.7 KiB
C#
64 lines
2.7 KiB
C#
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using System;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.Mapping;
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namespace TrajectoryOutputDemo;
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/// <summary>
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/// Trajplanner_output 的唯一演示调参入口。
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/// 地图边界与分辨率使用 mm；车辆、起终点位置和安全余量使用 m；航向使用 rad；输出路径为 CSV 文件位置。
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/// </summary>
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public sealed class TrajectoryOutputDemoConfiguration
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{
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/// <summary>演示地图的世界边界；空地图只允许用于算法学习，不能替代真实障碍物来源。</summary>
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public MapBoundsMm MapBounds { get; init; } = new MapBoundsMm(0f, 6000f, 0f, 4000f);
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/// <summary>演示占据栅格分辨率，单位 mm。</summary>
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public float MapResolutionMillimeters { get; init; }
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/// <summary>车辆几何中心起点，位置单位 m、航向单位 rad。</summary>
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public Pose2D Start { get; init; } = new Pose2D(1d, 1d, 0d);
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/// <summary>车辆几何中心目标点，位置单位 m、航向单位 rad。</summary>
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public Pose2D Goal { get; init; } = new Pose2D(3d, 1d, 0d);
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/// <summary>车辆长度，单位 m。</summary>
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public double VehicleLengthMeters { get; init; }
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/// <summary>车辆宽度，单位 m。</summary>
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public double VehicleWidthMeters { get; init; }
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/// <summary>车辆矩形外的附加安全余量，单位 m。</summary>
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public double SafetyMarginMeters { get; init; }
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/// <summary>车辆最大曲率，单位 1/m。</summary>
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public double MaximumCurvaturePerMeter { get; init; }
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/// <summary>轨迹开始时的带符号纵向速度，单位 m/s；前进为正、倒车为负。</summary>
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public double InitialSignedSpeedMetersPerSecond { get; init; }
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/// <summary>输出 CSV 的绝对或相对路径。</summary>
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public string CsvOutputPath { get; init; } = string.Empty;
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/// <summary>创建可直线通行的最小真实 EM 演示配置。</summary>
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public static TrajectoryOutputDemoConfiguration CreateDefault(string csvOutputPath)
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{
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if (string.IsNullOrWhiteSpace(csvOutputPath))
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throw new ArgumentException("CSV 输出路径不能为空。", nameof(csvOutputPath));
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return new TrajectoryOutputDemoConfiguration
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{
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MapBounds = new MapBoundsMm(0f, 6000f, 0f, 4000f),
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MapResolutionMillimeters = 50f,
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Start = new Pose2D(1d, 1d, 0d),
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Goal = new Pose2D(3d, 1d, 0d),
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VehicleLengthMeters = 0.80d,
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VehicleWidthMeters = 0.60d,
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SafetyMarginMeters = 0.05d,
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MaximumCurvaturePerMeter = 1d / 1.20d,
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InitialSignedSpeedMetersPerSecond = 0d,
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CsvOutputPath = csvOutputPath,
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};
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}
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}
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