59 lines
2.4 KiB
C#
59 lines
2.4 KiB
C#
namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>
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/// 横向 QP 目标函数的权重快照；权重只影响偏好，不放宽安全约束。
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/// </summary>
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public sealed class LateralWeights
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{
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/// <summary>
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/// 惩罚偏离参考线横向偏移的权重；无量纲，默认值 10，必须为非负有限值。
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/// </summary>
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public double ReferenceOffset { get; set; }
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/// <summary>
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/// 惩罚横向偏移一阶导数的权重；无量纲，默认值 1，必须为非负有限值。
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/// </summary>
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public double HeadingDeviation { get; set; }
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/// <summary>
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/// 惩罚横向偏移二阶导数的权重；无量纲，默认值 5，必须为非负有限值。
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/// </summary>
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public double SecondDerivative { get; set; }
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/// <summary>
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/// 惩罚横向偏移三阶导数的权重；无量纲，默认值 10，必须为非负有限值。
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/// </summary>
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public double ThirdDerivative { get; set; }
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/// <summary>
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/// 惩罚由横向解导出的车辆曲率的权重；无量纲，默认值 5，必须为非负有限值。
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/// </summary>
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public double Curvature { get; set; }
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/// <summary>
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/// 惩罚相邻站曲率变化的权重；无量纲，默认值 20，必须为非负有限值。
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/// </summary>
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public double CurvatureVariation { get; set; }
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/// <summary>
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/// 惩罚偏离上一轮横向轨迹的权重；无量纲，默认值 5，必须为非负有限值。
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/// </summary>
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public double PreviousTrajectory { get; set; }
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/// <summary>
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/// 滚动规划末端横向状态的稳定权重；无量纲，默认值 10，必须为非负有限值。
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/// </summary>
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public double RollingTerminal { get; set; }
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/// <summary>
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/// 复制当前横向权重；输入为当前八个标量，输出为无共享可变状态的标量快照，不对数值作校验且不产生失败状态。
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/// </summary>
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internal LateralWeights Copy()
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{
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return new LateralWeights
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{
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ReferenceOffset = ReferenceOffset,
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HeadingDeviation = HeadingDeviation,
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SecondDerivative = SecondDerivative,
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ThirdDerivative = ThirdDerivative,
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Curvature = Curvature,
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CurvatureVariation = CurvatureVariation,
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PreviousTrajectory = PreviousTrajectory,
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RollingTerminal = RollingTerminal,
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};
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}
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}
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