30 lines
1.5 KiB
C#
30 lines
1.5 KiB
C#
namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
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/// <summary>Local G2 路径平滑管线共享配置；所有距离单位为 m，曲率相关限制使用 1/m。</summary>
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public sealed class PathSmoothingConfiguration
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{
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/// <summary>创建采用首版安全采样、碰撞步长、净空和曲率容差默认值的可编辑配置。</summary>
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public PathSmoothingConfiguration()
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{
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OutputSpacingMeters = 0.025d;
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MaximumCollisionCheckStepMeters = 0.025d;
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MinimumClearanceReserveMeters = 0d;
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CurvatureLimitRadiusToleranceMeters = 0.002d;
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}
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/// <summary>发布路径沿弧长的目标采样间距，单位 m；必须为有限正数。</summary>
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public double OutputSpacingMeters { get; set; }
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/// <summary>连续车体扫掠复核允许的最大中心步长，单位 m；较大值会降低碰撞检查分辨率。</summary>
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public double MaximumCollisionCheckStepMeters { get; set; }
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/// <summary>除无碰撞外还要求保留的最小额外净空，单位 m。</summary>
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public double MinimumClearanceReserveMeters { get; set; }
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/// <summary>曲率上限复核时允许相对名义最小转弯半径的缩减容差，单位 m。</summary>
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public double CurvatureLimitRadiusToleranceMeters { get; set; }
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/// <summary>局部 G2 五次过渡窗口与候选筛选选项；返回同一配置对象的可编辑子配置。</summary>
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public LocalG2QuinticOptions LocalG2Quintic { get; } = new LocalG2QuinticOptions();
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}
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