feat: define path smoothing contracts

2026-07-28 16:48:24 +08:00
parent 727d0e5255
commit ebf7d7d3d4
14 changed files with 712 additions and 0 deletions
@@ -0,0 +1,66 @@
+using MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
+
+/// <summary>平滑空间路径上的不可变采样点；位置和长度单位为 m，航向为 rad，曲率为 1/m。</summary>
+public sealed class SmoothedPathPoint
+{
+    public SmoothedPathPoint(
+        double xMeters,
+        double yMeters,
+        double headingRadians,
+        double unwrappedHeadingRadians,
+        double arcLengthMeters,
+        TravelDirection direction,
+        double geometricCurvaturePerMeter,
+        double vehicleCurvaturePerMeter,
+        double bodyClearanceMeters,
+        bool isGearSwitchPoint,
+        SmoothedPathPointSource source)
+    {
+        X = xMeters;
+        Y = yMeters;
+        Heading = headingRadians;
+        UnwrappedHeading = unwrappedHeadingRadians;
+        ArcLength = arcLengthMeters;
+        Direction = direction;
+        GeometricCurvature = geometricCurvaturePerMeter;
+        VehicleCurvature = vehicleCurvaturePerMeter;
+        BodyClearance = bodyClearanceMeters;
+        IsGearSwitchPoint = isGearSwitchPoint;
+        Source = source;
+    }
+
+    /// <summary>世界 X 坐标，单位 m。</summary>
+    public double X { get; }
+
+    /// <summary>世界 Y 坐标，单位 m。</summary>
+    public double Y { get; }
+
+    /// <summary>归一化的车辆航向，单位 rad。</summary>
+    public double Heading { get; }
+
+    /// <summary>连续展开的车辆航向，单位 rad。</summary>
+    public double UnwrappedHeading { get; }
+
+    /// <summary>从完整路径起点累计的弧长，单位 m。</summary>
+    public double ArcLength { get; }
+
+    /// <summary>该点所在连续方向段的行驶方向。</summary>
+    public TravelDirection Direction { get; }
+
+    /// <summary>按几何弧长计算的有符号路径曲率，单位 1/m。</summary>
+    public double GeometricCurvature { get; }
+
+    /// <summary>车辆模型使用的有符号曲率，单位 1/m。</summary>
+    public double VehicleCurvature { get; }
+
+    /// <summary>扩大车体后的保守净空下界，单位 m。</summary>
+    public double BodyClearance { get; }
+
+    /// <summary>该点是否为新方向段开始的换向点。</summary>
+    public bool IsGearSwitchPoint { get; }
+
+    /// <summary>该点在平滑流程中的来源。</summary>
+    public SmoothedPathPointSource Source { get; }
+}