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 +1,33 @@
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Output.Comparison;
+
+/// <summary>Immutable request for comparing a coarse-path baseline with Local G2 output.</summary>
+public sealed class PathSmoothingComparisonRequest
+{
+    private static readonly IReadOnlyList<SmoothingMethod> LocalG2OnlyMethods =
+        new ReadOnlyCollection<SmoothingMethod>(new[] { SmoothingMethod.LocalG2Quintic });
+
+    public PathSmoothingComparisonRequest(PathSmoothingRequest smoothingRequest)
+    {
+        SmoothingRequest = CopyRequest(smoothingRequest);
+        Methods = LocalG2OnlyMethods;
+    }
+
+    public PathSmoothingRequest SmoothingRequest { get; }
+
+    /// <summary>The report always contains the sole supported method, Local G2 quintic.</summary>
+    public IReadOnlyList<SmoothingMethod> Methods { get; }
+
+    private static PathSmoothingRequest CopyRequest(PathSmoothingRequest source)
+    {
+        if (source == null) return null;
+        return new PathSmoothingRequest(
+            source.CoarsePath,
+            source.Segments,
+            source.Map,
+            source.Vehicle,
+            source.Configuration);
+    }
+}