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 +1,117 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Output.Comparison;
+
+/// <summary>Immutable raw-baseline or Local G2 report entry.</summary>
+public sealed class PathSmoothingComparisonEntry
+{
+    public PathSmoothingComparisonEntry(
+        SmoothingMethod method,
+        PathSmoothingStatus status,
+        PathQualityMetrics metrics,
+        SmoothingTimingSummary timing,
+        string stableGeometryDigest,
+        string diagnostic)
+        : this(method, false, status, metrics, timing, stableGeometryDigest, diagnostic, Empty<SmoothedPathPoint>(), Empty<SmoothedPathSegment>())
+    {
+    }
+
+    private PathSmoothingComparisonEntry(
+        SmoothingMethod? method,
+        bool isRawPathBaseline,
+        PathSmoothingStatus status,
+        PathQualityMetrics metrics,
+        SmoothingTimingSummary timing,
+        string stableGeometryDigest,
+        string diagnostic,
+        IReadOnlyList<SmoothedPathPoint> path,
+        IReadOnlyList<SmoothedPathSegment> segments)
+    {
+        Method = method;
+        IsRawPathBaseline = isRawPathBaseline;
+        Status = status;
+        Metrics = metrics ?? new PathQualityMetrics();
+        Timing = timing ?? new SmoothingTimingSummary(new double[] { 0d, 0d, 0d, 0d, 0d }, false, "No timing result was supplied.");
+        StableGeometryDigest = stableGeometryDigest ?? string.Empty;
+        Diagnostic = diagnostic ?? string.Empty;
+        Path = CopyReadOnly(path);
+        Segments = CopyReadOnly(segments);
+    }
+
+    public SmoothingMethod? Method { get; }
+
+    public bool IsRawPathBaseline { get; }
+
+    public PathSmoothingStatus Status { get; }
+
+    public PathQualityMetrics Metrics { get; }
+
+    public SmoothingTimingSummary Timing { get; }
+
+    public string StableGeometryDigest { get; }
+
+    public string Diagnostic { get; }
+
+    public IReadOnlyList<SmoothedPathPoint> Path { get; }
+
+    public IReadOnlyList<SmoothedPathSegment> Segments { get; }
+
+    public bool IsEligibleForRecommendation =>
+        !IsRawPathBaseline &&
+        IsPublishedLocalG2Status(Status) &&
+        Metrics.IsFeasible &&
+        Timing.IsDeterministic;
+
+    internal static bool IsPublishedLocalG2Status(PathSmoothingStatus status)
+    {
+        return status == PathSmoothingStatus.Complete ||
+            status == PathSmoothingStatus.PartialImprovement ||
+            status == PathSmoothingStatus.NotNeeded ||
+            status == PathSmoothingStatus.Unchanged;
+    }
+
+    internal static PathSmoothingComparisonEntry CreateCandidate(
+        SmoothingMethod method,
+        PathSmoothingStatus status,
+        PathQualityMetrics metrics,
+        SmoothingTimingSummary timing,
+        string stableGeometryDigest,
+        string diagnostic,
+        IReadOnlyList<SmoothedPathPoint> path,
+        IReadOnlyList<SmoothedPathSegment> segments)
+    {
+        return new PathSmoothingComparisonEntry(
+            method, false, status, metrics, timing, stableGeometryDigest, diagnostic, path, segments);
+    }
+
+    internal static PathSmoothingComparisonEntry CreateRawPathBaseline(
+        PathSmoothingStatus status,
+        PathQualityMetrics metrics,
+        string stableGeometryDigest,
+        string diagnostic,
+        IReadOnlyList<SmoothedPathPoint> path,
+        IReadOnlyList<SmoothedPathSegment> segments)
+    {
+        return new PathSmoothingComparisonEntry(
+            null, true, status, metrics,
+            new SmoothingTimingSummary(new double[] { 0d, 0d, 0d, 0d, 0d }, true, string.Empty),
+            stableGeometryDigest, diagnostic, path, segments);
+    }
+
+    private static IReadOnlyList<T> Empty<T>()
+    {
+        return new ReadOnlyCollection<T>(new List<T>());
+    }
+
+    private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)
+    {
+        var copy = new List<T>(source == null ? 0 : source.Count);
+        if (source != null)
+        {
+            for (int index = 0; index < source.Count; index++) copy.Add(source[index]);
+        }
+        return new ReadOnlyCollection<T>(copy);
+    }
+}