66 lines
2.9 KiB
C#
66 lines
2.9 KiB
C#
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using System;
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namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
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/// <summary>一次规划的只读统计与终止说明；长度和净空单位为 m。</summary>
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public sealed class PlanningDiagnostics
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{
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/// <summary>
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/// 创建规划统计快照。
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/// 参数中的节点数量均为非负计数；pathLengthMeters 和 minimumBodyClearanceMeters 单位为 m；elapsed 为总耗时；pathSearchElapsed 为地图和起终点预检通过后的路径产出耗时；terminationReason 为可读终止说明，可为 null。
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/// </summary>
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public PlanningDiagnostics(
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int expandedNodeCount = 0,
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int generatedNodeCount = 0,
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int reopenedNodeCount = 0,
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int staleOpenListEntryCount = 0,
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int peakOpenListCount = 0,
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double pathLengthMeters = 0d,
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double minimumBodyClearanceMeters = 0d,
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TimeSpan elapsed = default(TimeSpan),
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string terminationReason = null,
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TimeSpan pathSearchElapsed = default(TimeSpan))
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{
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ExpandedNodeCount = expandedNodeCount;
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GeneratedNodeCount = generatedNodeCount;
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ReopenedNodeCount = reopenedNodeCount;
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StaleOpenListEntryCount = staleOpenListEntryCount;
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PeakOpenListCount = peakOpenListCount;
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PathLengthMeters = pathLengthMeters;
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MinimumBodyClearanceMeters = minimumBodyClearanceMeters;
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Elapsed = elapsed;
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PathSearchElapsed = pathSearchElapsed;
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TerminationReason = terminationReason ?? string.Empty;
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}
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/// <summary>从 Open List 取出并真正扩展的节点数量。</summary>
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public int ExpandedNodeCount { get; }
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/// <summary>生成并尝试加入搜索状态的节点数量。</summary>
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public int GeneratedNodeCount { get; }
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/// <summary>以严格更小代价到达同一离散键而重新打开的节点数量。</summary>
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public int ReopenedNodeCount { get; }
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/// <summary>从 Open List 取出后因已有更优条目而丢弃的陈旧堆条目数量。</summary>
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public int StaleOpenListEntryCount { get; }
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/// <summary>搜索期间 Open List 同时容纳的最大有效或待丢弃条目数量。</summary>
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public int PeakOpenListCount { get; }
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/// <summary>成功路径的累计弧长，单位 m；失败结果通常为 0。</summary>
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public double PathLengthMeters { get; }
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/// <summary>成功路径所有点中车体保守净空下界的最小值，单位 m；失败结果通常为 0。</summary>
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public double MinimumBodyClearanceMeters { get; }
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/// <summary>从规划入口到返回结果的总耗时。</summary>
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public TimeSpan Elapsed { get; }
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/// <summary>地图和起终点预检通过后，二维启发式、Hybrid A*、回溯、装配和最终复核的耗时；不含建图，搜索前失败时为零。</summary>
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public TimeSpan PathSearchElapsed { get; }
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/// <summary>面向调用方的终止原因；成功时可为空字符串。</summary>
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public string TerminationReason { get; }
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}
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