118 lines
4.0 KiB
C#
118 lines
4.0 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Output.Comparison;
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/// <summary>Immutable raw-baseline or Local G2 report entry.</summary>
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public sealed class PathSmoothingComparisonEntry
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{
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public PathSmoothingComparisonEntry(
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SmoothingMethod method,
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PathSmoothingStatus status,
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PathQualityMetrics metrics,
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SmoothingTimingSummary timing,
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string stableGeometryDigest,
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string diagnostic)
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: this(method, false, status, metrics, timing, stableGeometryDigest, diagnostic, Empty<SmoothedPathPoint>(), Empty<SmoothedPathSegment>())
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{
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}
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private PathSmoothingComparisonEntry(
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SmoothingMethod? method,
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bool isRawPathBaseline,
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PathSmoothingStatus status,
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PathQualityMetrics metrics,
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SmoothingTimingSummary timing,
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string stableGeometryDigest,
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string diagnostic,
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IReadOnlyList<SmoothedPathPoint> path,
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IReadOnlyList<SmoothedPathSegment> segments)
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{
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Method = method;
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IsRawPathBaseline = isRawPathBaseline;
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Status = status;
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Metrics = metrics ?? new PathQualityMetrics();
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Timing = timing ?? new SmoothingTimingSummary(new double[] { 0d, 0d, 0d, 0d, 0d }, false, "No timing result was supplied.");
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StableGeometryDigest = stableGeometryDigest ?? string.Empty;
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Diagnostic = diagnostic ?? string.Empty;
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Path = CopyReadOnly(path);
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Segments = CopyReadOnly(segments);
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}
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public SmoothingMethod? Method { get; }
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public bool IsRawPathBaseline { get; }
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public PathSmoothingStatus Status { get; }
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public PathQualityMetrics Metrics { get; }
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public SmoothingTimingSummary Timing { get; }
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public string StableGeometryDigest { get; }
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public string Diagnostic { get; }
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public IReadOnlyList<SmoothedPathPoint> Path { get; }
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public IReadOnlyList<SmoothedPathSegment> Segments { get; }
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public bool IsEligibleForRecommendation =>
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!IsRawPathBaseline &&
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IsPublishedLocalG2Status(Status) &&
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Metrics.IsFeasible &&
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Timing.IsDeterministic;
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internal static bool IsPublishedLocalG2Status(PathSmoothingStatus status)
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{
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return status == PathSmoothingStatus.Complete ||
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status == PathSmoothingStatus.PartialImprovement ||
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status == PathSmoothingStatus.NotNeeded ||
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status == PathSmoothingStatus.Unchanged;
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}
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internal static PathSmoothingComparisonEntry CreateCandidate(
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SmoothingMethod method,
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PathSmoothingStatus status,
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PathQualityMetrics metrics,
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SmoothingTimingSummary timing,
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string stableGeometryDigest,
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string diagnostic,
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IReadOnlyList<SmoothedPathPoint> path,
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IReadOnlyList<SmoothedPathSegment> segments)
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{
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return new PathSmoothingComparisonEntry(
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method, false, status, metrics, timing, stableGeometryDigest, diagnostic, path, segments);
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}
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internal static PathSmoothingComparisonEntry CreateRawPathBaseline(
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PathSmoothingStatus status,
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PathQualityMetrics metrics,
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string stableGeometryDigest,
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string diagnostic,
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IReadOnlyList<SmoothedPathPoint> path,
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IReadOnlyList<SmoothedPathSegment> segments)
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{
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return new PathSmoothingComparisonEntry(
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null, true, status, metrics,
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new SmoothingTimingSummary(new double[] { 0d, 0d, 0d, 0d, 0d }, true, string.Empty),
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stableGeometryDigest, diagnostic, path, segments);
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}
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private static IReadOnlyList<T> Empty<T>()
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{
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return new ReadOnlyCollection<T>(new List<T>());
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}
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private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)
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{
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var copy = new List<T>(source == null ? 0 : source.Count);
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if (source != null)
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{
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for (int index = 0; index < source.Count; index++) copy.Add(source[index]);
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}
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return new ReadOnlyCollection<T>(copy);
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}
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}
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