chore: save current workspace progress

2026-08-09 22:13:18 +08:00
parent 650c2ab0e3
commit 2f4fd15e52
449 changed files with 76593 additions and 971 deletions
@@ -0,0 +1,50 @@
+using System;
+using MultiWheelC.TrajectoryPlanning.Utils;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Algorithms;
+
+/// <summary>供单次平滑算法运行使用的、已校验的不可变方法选项快照。</summary>
+internal sealed class SmoothingOptionsSnapshot
+{
+    internal SmoothingOptionsSnapshot(PathSmoothingConfiguration configuration)
+    {
+        if (configuration == null) throw new ArgumentNullException(nameof(configuration));
+
+        CubicBSplineEndpointTangentScale = configuration.CubicBSpline.EndpointTangentScale;
+        BezierCornerHeadingThresholdRadians = configuration.LocalCubicBezier.CornerHeadingThresholdRadians;
+        BezierMaximumWindowLengthMeters = configuration.LocalCubicBezier.MaximumWindowLengthMeters;
+        BezierHandleLengthRatio = configuration.LocalCubicBezier.HandleLengthRatio;
+        QuinticKnotSpacingMeters = configuration.PiecewiseQuintic.KnotSpacingMeters;
+        QuinticMinimumKnotSpacingMeters = configuration.PiecewiseQuintic.MinimumKnotSpacingMeters;
+
+        ValidatePositiveFinite(CubicBSplineEndpointTangentScale, nameof(CubicBSplineEndpointTangentScale));
+        if (!NumericGuard.IsFinite(BezierCornerHeadingThresholdRadians) ||
+            BezierCornerHeadingThresholdRadians <= 0d || BezierCornerHeadingThresholdRadians > Math.PI)
+        {
+            throw new ArgumentOutOfRangeException(nameof(BezierCornerHeadingThresholdRadians));
+        }
+        ValidatePositiveFinite(BezierMaximumWindowLengthMeters, nameof(BezierMaximumWindowLengthMeters));
+        ValidatePositiveFinite(BezierHandleLengthRatio, nameof(BezierHandleLengthRatio));
+        ValidatePositiveFinite(QuinticKnotSpacingMeters, nameof(QuinticKnotSpacingMeters));
+        ValidatePositiveFinite(QuinticMinimumKnotSpacingMeters, nameof(QuinticMinimumKnotSpacingMeters));
+        if (QuinticKnotSpacingMeters < QuinticMinimumKnotSpacingMeters)
+            throw new ArgumentOutOfRangeException(nameof(QuinticKnotSpacingMeters));
+    }
+
+    internal double CubicBSplineEndpointTangentScale { get; }
+
+    internal double BezierCornerHeadingThresholdRadians { get; }
+
+    internal double BezierMaximumWindowLengthMeters { get; }
+
+    internal double BezierHandleLengthRatio { get; }
+
+    internal double QuinticKnotSpacingMeters { get; }
+
+    internal double QuinticMinimumKnotSpacingMeters { get; }
+
+    private static void ValidatePositiveFinite(double value, string name)
+    {
+        if (!NumericGuard.IsPositiveFinite(value)) throw new ArgumentOutOfRangeException(name);
+    }
+}