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 +1,108 @@
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
+
+/// <summary>一条原始或平滑路径的不可变质量指标。</summary>
+public sealed class PathQualityMetrics
+{
+    /// <summary>创建全零、不可行的质量指标。</summary>
+    public PathQualityMetrics()
+        : this(false, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d)
+    {
+    }
+
+    /// <summary>创建完整的质量指标快照。</summary>
+    public PathQualityMetrics(
+        bool isFeasible,
+        double pathLengthMeters,
+        double maximumAbsoluteVehicleCurvaturePerMeter,
+        double rootMeanSquareVehicleCurvaturePerMeter,
+        double totalAbsoluteCurvatureVariationPerMeter,
+        double curvatureVariationEnergy,
+        double minimumBodyClearanceMeters,
+        double lengthChangePercent,
+        double peakCurvatureChangePercent,
+        double curvatureVariationChangePercent,
+        double minimumClearanceChangeMeters)
+        : this(
+            isFeasible,
+            pathLengthMeters,
+            maximumAbsoluteVehicleCurvaturePerMeter,
+            0d,
+            rootMeanSquareVehicleCurvaturePerMeter,
+            totalAbsoluteCurvatureVariationPerMeter,
+            curvatureVariationEnergy,
+            minimumBodyClearanceMeters,
+            lengthChangePercent,
+            peakCurvatureChangePercent,
+            curvatureVariationChangePercent,
+            minimumClearanceChangeMeters)
+    {
+    }
+
+    /// <summary>创建带有曲率导数峰值的完整质量指标快照。</summary>
+    public PathQualityMetrics(
+        bool isFeasible,
+        double pathLengthMeters,
+        double maximumAbsoluteVehicleCurvaturePerMeter,
+        double maximumAbsoluteVehicleCurvatureDerivativePerSquareMeter,
+        double rootMeanSquareVehicleCurvaturePerMeter,
+        double totalAbsoluteCurvatureVariationPerMeter,
+        double curvatureVariationEnergy,
+        double minimumBodyClearanceMeters,
+        double lengthChangePercent,
+        double peakCurvatureChangePercent,
+        double curvatureVariationChangePercent,
+        double minimumClearanceChangeMeters)
+    {
+        IsFeasible = isFeasible;
+        PathLengthMeters = pathLengthMeters;
+        MaximumAbsoluteVehicleCurvaturePerMeter = maximumAbsoluteVehicleCurvaturePerMeter;
+        MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter = maximumAbsoluteVehicleCurvatureDerivativePerSquareMeter;
+        RootMeanSquareVehicleCurvaturePerMeter = rootMeanSquareVehicleCurvaturePerMeter;
+        TotalAbsoluteCurvatureVariationPerMeter = totalAbsoluteCurvatureVariationPerMeter;
+        CurvatureVariationEnergy = curvatureVariationEnergy;
+        MinimumBodyClearanceMeters = minimumBodyClearanceMeters;
+        LengthChangePercent = lengthChangePercent;
+        PeakCurvatureChangePercent = peakCurvatureChangePercent;
+        CurvatureVariationChangePercent = curvatureVariationChangePercent;
+        MinimumClearanceChangeMeters = minimumClearanceChangeMeters;
+    }
+
+    /// <summary>该路径是否通过完整安全和运动学复核。</summary>
+    public bool IsFeasible { get; }
+
+    /// <summary>路径总弧长，单位 m。</summary>
+    public double PathLengthMeters { get; }
+
+    /// <summary>绝对车辆曲率峰值，单位 1/m。</summary>
+    public double MaximumAbsoluteVehicleCurvaturePerMeter { get; }
+
+    /// <summary>绝对车辆曲率导数峰值，单位 1/m²。</summary>
+    public double MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter { get; }
+
+    /// <summary>车辆曲率均方根，单位 1/m。</summary>
+    public double RootMeanSquareVehicleCurvaturePerMeter { get; }
+
+    /// <summary>逐方向段累加的绝对曲率变化，单位 1/m。</summary>
+    public double TotalAbsoluteCurvatureVariationPerMeter { get; }
+
+    /// <summary>逐方向段计算的曲率变化能量。</summary>
+    public double CurvatureVariationEnergy { get; }
+
+    /// <summary>曲率变化代价的兼容名称。</summary>
+    public double CurvatureVariationCost => CurvatureVariationEnergy;
+
+    /// <summary>完整扩大车体的最小保守净空，单位 m。</summary>
+    public double MinimumBodyClearanceMeters { get; }
+
+    /// <summary>相对原始粗路径的长度变化百分比。</summary>
+    public double LengthChangePercent { get; }
+
+    /// <summary>相对原始粗路径的峰值曲率变化百分比。</summary>
+    public double PeakCurvatureChangePercent { get; }
+
+    /// <summary>相对原始粗路径的曲率变化百分比。</summary>
+    public double CurvatureVariationChangePercent { get; }
+
+    /// <summary>相对原始粗路径的最小净空变化，单位 m。</summary>
+    public double MinimumClearanceChangeMeters { get; }
+}