40 lines
1.7 KiB
C#
40 lines
1.7 KiB
C#
using System;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.Mapping;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Algorithms;
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/// <summary>单次算法运行共享的已预处理路径和独立复核上下文。</summary>
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internal sealed class SmoothingAlgorithmInput
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{
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internal SmoothingAlgorithmInput(
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PreparedPath originalPath,
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PlanningGridMap map,
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VehicleParameters vehicle,
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double maximumCollisionCheckStepMeters,
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double minimumClearanceReserveMeters)
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{
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OriginalPath = originalPath ?? throw new ArgumentNullException(nameof(originalPath));
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Map = map ?? throw new ArgumentNullException(nameof(map));
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Vehicle = vehicle ?? throw new ArgumentNullException(nameof(vehicle));
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MaximumCollisionCheckStepMeters = maximumCollisionCheckStepMeters;
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MinimumClearanceReserveMeters = minimumClearanceReserveMeters;
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}
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/// <summary>已校验并按方向分段的原始路径。</summary>
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internal PreparedPath OriginalPath { get; }
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/// <summary>用于完整车体复核的不可变规划地图。</summary>
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internal PlanningGridMap Map { get; }
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/// <summary>用于曲率和足迹复核的车辆参数快照。</summary>
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internal VehicleParameters Vehicle { get; }
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/// <summary>连续车体碰撞检查的最大步长，单位 m。</summary>
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internal double MaximumCollisionCheckStepMeters { get; }
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/// <summary>候选几何必须从原始保守净空中预留的最小安全余量，单位 m。</summary>
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internal double MinimumClearanceReserveMeters { get; }
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}
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