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chore: save current workspace progress

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梁薄云
2026-08-09 22:13:18 +08:00
parent 650c2ab0e3
commit 2f4fd15e52
449 changed files with 76593 additions and 971 deletions
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ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingResult.cs
+29 -55
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@@ -4,7 +4,10 @@ using System.Collections.ObjectModel;
namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
/// <summary>路径平滑的最终不可变结果。</summary>
/// <summary>
/// Local G2 路径平滑管线产生的不可变结果。
/// 只有可发布状态携带完整、已验证的路径和方向段；失败、取消和无效输入结果始终提供空集合，不能被当作部分路径消费。
/// </summary>
public sealed class PathSmoothingResult
{
private static readonly IReadOnlyList<SmoothedPathPoint> EmptyPath =
@@ -30,64 +33,34 @@ public sealed class PathSmoothingResult
Diagnostics = diagnostics ?? new PathSmoothingDiagnostics(
new PathQualityMetrics(),
TimeSpan.Zero,
0,
0d,
"No smoothing diagnostics were supplied.");
}
/// <summary>最终发布状态。</summary>
/// <summary>本次平滑的终止状态；决定 <see cref="Path"/> 和 <see cref="Segments"/> 是否可消费。</summary>
public PathSmoothingStatus Status { get; }
/// <summary>成功或回退时的实际（或尝试）平滑方法；失败时为空。</summary>
/// <summary>成功发布路径时实际采用的平滑方法；失败结果为 <see langword="null"/>。</summary>
public SmoothingMethod? Method { get; }
/// <summary>成功或经过复核的回退路径；其他状态始终为空且不可变。</summary>
/// <summary>成功时按起点到终点排列的不可变平滑路径；位置和弧长单位为 m，航向单位为 rad；失败时为空。</summary>
public IReadOnlyList<SmoothedPathPoint> Path { get; }
/// <summary>覆盖 <see cref="Path"/> 的方向分段；其他状态始终为空且不可变。</summary>
/// <summary>成功时覆盖 <see cref="Path"/> 的不可变方向段集合；失败时为空。</summary>
public IReadOnlyList<SmoothedPathSegment> Segments { get; }
/// <summary>局部 G2 各检测区域的不可变报告；传统算法结果为空。</summary>
/// <summary>各 Local G2 区域的不可变处理报告；失败结果不包含区域发布记录。</summary>
public IReadOnlyList<PathSmoothingRegionReport> RegionReports { get; }
/// <summary>本次平滑的质量和终止诊断；始终非空。</summary>
/// <summary>质量指标、耗时和终止原因；始终存在，供调用方诊断成功或失败。</summary>
public PathSmoothingDiagnostics Diagnostics { get; }
/// <summary>创建已通过所有复核的平滑结果。</summary>
public static PathSmoothingResult Success(
SmoothingMethod method,
IReadOnlyList<SmoothedPathPoint> path,
IReadOnlyList<SmoothedPathSegment> segments,
PathSmoothingDiagnostics diagnostics)
{
ValidatePublishedResult(method, path, segments, diagnostics);
return new PathSmoothingResult(
PathSmoothingStatus.Success,
method,
CopyReadOnly(path),
CopyReadOnly(segments),
diagnostics,
EmptyRegionReports);
}
/// <summary>创建经过完整复核的原始粗路径回退结果。</summary>
public static PathSmoothingResult Fallback(
SmoothingMethod attemptedMethod,
IReadOnlyList<SmoothedPathPoint> path,
IReadOnlyList<SmoothedPathSegment> segments,
PathSmoothingDiagnostics diagnostics)
{
ValidatePublishedResult(attemptedMethod, path, segments, diagnostics);
return new PathSmoothingResult(
PathSmoothingStatus.FallbackToCoarsePath,
attemptedMethod,
CopyReadOnly(path),
CopyReadOnly(segments),
diagnostics,
EmptyRegionReports);
}
/// <summary>发布经过完整复核的局部 G2 预平滑结果。</summary>
/// <summary>发布已经过独立几何、曲率、净空和连续碰撞复核的 Local G2 结果。</summary>
/// <param name="status">可发布状态，只能是完整、部分改进、不需要平滑或保持原样之一。</param>
/// <param name="path">按起点到终点顺序排列的完整平滑路径；位置与弧长单位为 m，航向单位为 rad。</param>
/// <param name="segments">覆盖完整路径的前进/倒车方向段集合。</param>
/// <param name="diagnostics">包含可行质量指标和终止说明的诊断快照。</param>
/// <param name="regionReports">每个局部区域的不可变处理报告集合，不能为 <see langword="null"/>。</param>
/// <returns>携带防御性复制路径、分段和区域报告的不可变可消费结果。</returns>
public static PathSmoothingResult PublishLocalG2(
PathSmoothingStatus status,
IReadOnlyList<SmoothedPathPoint> path,
@@ -99,11 +72,13 @@ public sealed class PathSmoothingResult
status != PathSmoothingStatus.PartialImprovement &&
status != PathSmoothingStatus.NotNeeded &&
status != PathSmoothingStatus.Unchanged)
{
throw new ArgumentException("Use a Local G2 publication status.", nameof(status));
}
if (regionReports == null)
throw new ArgumentNullException(nameof(regionReports));
ValidatePublishedResult(SmoothingMethod.LocalG2Quintic, path, segments, diagnostics);
ValidatePublishedResult(path, segments, diagnostics);
return new PathSmoothingResult(
status,
SmoothingMethod.LocalG2Quintic,
@@ -113,29 +88,29 @@ public sealed class PathSmoothingResult
CopyReadOnly(regionReports));
}
/// <summary>创建不发布路径的失败、不可行、取消或输入无效结果。</summary>
/// <summary>创建明确不发布路径的失败、取消或无效输入结果。</summary>
/// <param name="status">非可发布的终止状态。</param>
/// <param name="diagnostics">失败原因、质量指标和耗时；为 <see langword="null"/> 时生成默认诊断。</param>
/// <returns>路径、方向段和区域报告均为空的不可变结果，不能作为部分路径使用。</returns>
public static PathSmoothingResult Failure(PathSmoothingStatus status, PathSmoothingDiagnostics diagnostics)
{
if (status == PathSmoothingStatus.Success ||
status == PathSmoothingStatus.FallbackToCoarsePath ||
status == PathSmoothingStatus.Complete ||
if (status == PathSmoothingStatus.Complete ||
status == PathSmoothingStatus.PartialImprovement ||
status == PathSmoothingStatus.NotNeeded ||
status == PathSmoothingStatus.Unchanged)
throw new ArgumentException("Use Success or Fallback to publish a path.", nameof(status));
{
throw new ArgumentException("Use PublishLocalG2 to publish a path.", nameof(status));
}
if (!Enum.IsDefined(typeof(PathSmoothingStatus), status))
throw new ArgumentOutOfRangeException(nameof(status));
return new PathSmoothingResult(status, null, EmptyPath, EmptySegments, diagnostics, EmptyRegionReports);
}
private static void ValidatePublishedResult(
SmoothingMethod method,
IReadOnlyList<SmoothedPathPoint> path,
IReadOnlyList<SmoothedPathSegment> segments,
PathSmoothingDiagnostics diagnostics)
{
if (!Enum.IsDefined(typeof(SmoothingMethod), method))
throw new ArgumentOutOfRangeException(nameof(method));
if (path == null || path.Count == 0)
throw new ArgumentException("Published smoothing results require a non-empty path.", nameof(path));
if (segments == null || segments.Count == 0)
@@ -147,8 +122,7 @@ public sealed class PathSmoothingResult
private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)
{
var copy = new List<T>(source.Count);
for (int index = 0; index < source.Count; index++)
copy.Add(source[index]);
for (int index = 0; index < source.Count; index++) copy.Add(source[index]);
return new ReadOnlyCollection<T>(copy);
}
}