73 lines
3.2 KiB
C#
73 lines
3.2 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
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/// <summary>同一几何分析器产生的路径、方向段和未验证质量统计。</summary>
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public sealed class PathGeometryAnalysis
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{
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internal PathGeometryAnalysis(
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IReadOnlyList<SmoothedPathPoint> path,
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IReadOnlyList<SmoothedPathSegment> segments,
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double pathLengthMeters,
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double maximumAbsoluteVehicleCurvaturePerMeter,
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double maximumAbsoluteVehicleCurvatureDerivativePerSquareMeter,
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double rootMeanSquareVehicleCurvaturePerMeter,
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double totalAbsoluteCurvatureVariationPerMeter,
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double curvatureVariationEnergy,
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double minimumBodyClearanceMeters)
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{
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Path = CopyReadOnly(path);
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Segments = CopyReadOnly(segments);
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PathLengthMeters = pathLengthMeters;
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MaximumAbsoluteVehicleCurvaturePerMeter = maximumAbsoluteVehicleCurvaturePerMeter;
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MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter = maximumAbsoluteVehicleCurvatureDerivativePerSquareMeter;
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RootMeanSquareVehicleCurvaturePerMeter = rootMeanSquareVehicleCurvaturePerMeter;
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TotalAbsoluteCurvatureVariationPerMeter = totalAbsoluteCurvatureVariationPerMeter;
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CurvatureVariationEnergy = curvatureVariationEnergy;
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MinimumBodyClearanceMeters = minimumBodyClearanceMeters;
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}
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/// <summary>完成几何重计算的不可变路径。</summary>
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public IReadOnlyList<SmoothedPathPoint> Path { get; }
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/// <summary>完整覆盖 <see cref="Path"/> 的不可变方向段。</summary>
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public IReadOnlyList<SmoothedPathSegment> Segments { get; }
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/// <summary>路径总长度，单位 m。</summary>
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public double PathLengthMeters { get; }
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/// <summary>车辆曲率绝对值峰值，单位 1/m。</summary>
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public double MaximumAbsoluteVehicleCurvaturePerMeter { get; }
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/// <summary>车辆曲率导数绝对值峰值，单位 1/m²。</summary>
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public double MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter { get; }
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/// <summary>车辆曲率均方根，单位 1/m。</summary>
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public double RootMeanSquareVehicleCurvaturePerMeter { get; }
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/// <summary>不跨换向点累计的绝对曲率变化，单位 1/m。</summary>
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public double TotalAbsoluteCurvatureVariationPerMeter { get; }
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/// <summary>不跨换向点累计的曲率变化代价。</summary>
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public double CurvatureVariationEnergy { get; }
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/// <summary>曲率变化代价的面向用户名称；保留 <see cref="CurvatureVariationEnergy"/> 以兼容既有调用方。</summary>
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public double CurvatureVariationCost => CurvatureVariationEnergy;
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/// <summary>输入点携带的最小保守净空，单位 m。</summary>
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public double MinimumBodyClearanceMeters { get; }
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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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