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 +1,90 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Output.Comparison;
+
+/// <summary>一个方法的固定五次计时样本和确定性结论。</summary>
+public sealed class SmoothingTimingSummary
+{
+    /// <summary>创建一个只接受五个已测量样本的计时汇总。</summary>
+    public SmoothingTimingSummary(
+        IReadOnlyList<double> measuredElapsedMilliseconds,
+        bool isDeterministic,
+        string diagnostic)
+    {
+        if (measuredElapsedMilliseconds == null || measuredElapsedMilliseconds.Count != 5)
+            throw new ArgumentException("计时汇总必须包含五个已测量样本。", nameof(measuredElapsedMilliseconds));
+
+        var copy = new List<double>(measuredElapsedMilliseconds.Count);
+        for (int index = 0; index < measuredElapsedMilliseconds.Count; index++)
+        {
+            double value = measuredElapsedMilliseconds[index];
+            if (double.IsNaN(value) || double.IsInfinity(value) || value < 0d)
+                throw new ArgumentOutOfRangeException(nameof(measuredElapsedMilliseconds), "计时样本必须为有限非负数。");
+            copy.Add(value);
+        }
+
+        MeasuredElapsedMilliseconds = new ReadOnlyCollection<double>(copy);
+        MedianElapsedMilliseconds = Median(copy);
+        IsDeterministic = isDeterministic;
+        Diagnostic = diagnostic ?? string.Empty;
+    }
+
+    /// <summary>不含预热执行的五个实测耗时，单位 ms。</summary>
+    public IReadOnlyList<double> MeasuredElapsedMilliseconds { get; }
+
+    /// <summary>五个实测耗时的稳定中位数，单位 ms。</summary>
+    public double MedianElapsedMilliseconds { get; }
+
+    /// <summary>五次输出是否具有相同的状态和稳定几何摘要。</summary>
+    public bool IsDeterministic { get; }
+
+    /// <summary>非确定性或测量失败的稳定诊断说明。</summary>
+    public string Diagnostic { get; }
+
+    /// <summary>从五次测量结果中生成计时汇总，并拒绝状态或几何不稳定的输出。</summary>
+    public static SmoothingTimingSummary FromMeasurements(
+        IReadOnlyList<double> measuredElapsedMilliseconds,
+        IReadOnlyList<PathSmoothingResult> measuredResults)
+    {
+        if (measuredResults == null || measuredResults.Count != 5)
+            throw new ArgumentException("确定性检查必须包含五个测量结果。", nameof(measuredResults));
+        for (int index = 0; index < measuredResults.Count; index++)
+        {
+            if (measuredResults[index] == null)
+                throw new ArgumentException("确定性检查不能包含空测量结果。", nameof(measuredResults));
+        }
+
+        PathSmoothingResult canonical = measuredResults[0];
+        string canonicalDigest = StableGeometryDigest.Compute(canonical);
+        for (int index = 1; index < measuredResults.Count; index++)
+        {
+            PathSmoothingResult measured = measuredResults[index];
+            string digest = StableGeometryDigest.Compute(measured);
+            if (measured.Status != canonical.Status ||
+                measured.Path.Count != canonical.Path.Count ||
+                measured.Segments.Count != canonical.Segments.Count ||
+                !string.Equals(digest, canonicalDigest, StringComparison.Ordinal))
+            {
+                return new SmoothingTimingSummary(
+                    measuredElapsedMilliseconds,
+                    false,
+                    "五次测量的状态、点数、分段数或稳定几何摘要不一致。");
+            }
+        }
+
+        return new SmoothingTimingSummary(measuredElapsedMilliseconds, true, string.Empty);
+    }
+
+    internal static double Median(IReadOnlyList<double> values)
+    {
+        var sorted = new double[values.Count];
+        for (int index = 0; index < values.Count; index++) sorted[index] = values[index];
+        Array.Sort(sorted);
+        int middle = sorted.Length / 2;
+        return sorted.Length % 2 == 1
+            ? sorted[middle]
+            : (sorted[middle - 1] + sorted[middle]) / 2d;
+    }
+}