29 lines
1019 B
C#
29 lines
1019 B
C#
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using System;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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public sealed class EmPlanningResult
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{
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public EmPlanningResult(EmPlanningStatus status, EmTrajectory trajectory, string failureReason)
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{
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if (!Enum.IsDefined(typeof(EmPlanningStatus), status))
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throw new ArgumentOutOfRangeException(nameof(status));
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bool isSuccess = status == EmPlanningStatus.Success || status == EmPlanningStatus.SuccessWithFallback;
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if (isSuccess && trajectory == null)
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throw new ArgumentException("Successful results require a trajectory.", nameof(trajectory));
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if (!isSuccess && trajectory != null)
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throw new ArgumentException("Only successful results may contain a trajectory.", nameof(trajectory));
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Status = status;
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Trajectory = trajectory;
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FailureReason = failureReason ?? string.Empty;
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}
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public EmPlanningStatus Status { get; }
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public EmTrajectory Trajectory { get; }
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public string FailureReason { get; }
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}
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