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 +1,80 @@
+using System;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
+
+/// <summary>一次平滑尝试的不可变诊断信息。</summary>
+public sealed class PathSmoothingDiagnostics
+{
+    /// <summary>创建不含路径指标的默认诊断信息。</summary>
+    public PathSmoothingDiagnostics()
+        : this(new PathQualityMetrics(), TimeSpan.Zero, 0, 0d, string.Empty)
+    {
+    }
+
+    /// <summary>创建完整的平滑诊断快照。</summary>
+    public PathSmoothingDiagnostics(
+        PathQualityMetrics metrics,
+        TimeSpan elapsed,
+        int retryCount,
+        double acceptedStrength,
+        string terminationReason = null)
+    {
+        Metrics = metrics ?? new PathQualityMetrics();
+        Elapsed = elapsed;
+        RetryCount = retryCount;
+        AcceptedStrength = acceptedStrength;
+        TerminationReason = terminationReason ?? string.Empty;
+    }
+
+    /// <summary>使用所有测量量创建平滑诊断快照。</summary>
+    public PathSmoothingDiagnostics(
+        bool isFeasible,
+        double pathLengthMeters,
+        double maximumAbsoluteVehicleCurvaturePerMeter,
+        double rootMeanSquareVehicleCurvaturePerMeter,
+        double totalAbsoluteCurvatureVariationPerMeter,
+        double curvatureVariationEnergy,
+        double minimumBodyClearanceMeters,
+        double lengthChangePercent,
+        double peakCurvatureChangePercent,
+        double curvatureVariationChangePercent,
+        double minimumClearanceChangeMeters,
+        TimeSpan elapsed,
+        int retryCount,
+        double acceptedStrength,
+        string terminationReason = null)
+        : this(
+            new PathQualityMetrics(
+                isFeasible,
+                pathLengthMeters,
+                maximumAbsoluteVehicleCurvaturePerMeter,
+                rootMeanSquareVehicleCurvaturePerMeter,
+                totalAbsoluteCurvatureVariationPerMeter,
+                curvatureVariationEnergy,
+                minimumBodyClearanceMeters,
+                lengthChangePercent,
+                peakCurvatureChangePercent,
+                curvatureVariationChangePercent,
+                minimumClearanceChangeMeters),
+            elapsed,
+            retryCount,
+            acceptedStrength,
+            terminationReason)
+    {
+    }
+
+    /// <summary>路径质量指标；始终非空。</summary>
+    public PathQualityMetrics Metrics { get; }
+
+    /// <summary>从算法入口到返回诊断的耗时。</summary>
+    public TimeSpan Elapsed { get; }
+
+    /// <summary>已执行的安全强度重试次数。</summary>
+    public int RetryCount { get; }
+
+    /// <summary>通过复核的平滑强度；未接受候选时为零。</summary>
+    public double AcceptedStrength { get; }
+
+    /// <summary>面向调用方的稳定终止说明。</summary>
+    public string TerminationReason { get; }
+}