79 lines
4.3 KiB
C#
79 lines
4.3 KiB
C#
namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>
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/// ST 纵向优化的速度、舒适性和终端保持限制配置；所有数值由 <see cref="EmPlannerConfiguration.CreateDefault"/> 提供低速泊车默认值。
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/// </summary>
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public sealed class LongitudinalConfiguration
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{
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/// <summary>
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/// 前进方向允许的最大速度；单位 m/s，默认值 1，必须为正有限值。
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/// </summary>
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public double MaximumForwardSpeedMetersPerSecond { get; set; }
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/// <summary>
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/// 倒车方向允许的最大速度；单位 m/s，默认值 0.5，必须为正有限值。
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/// </summary>
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public double MaximumReverseSpeedMetersPerSecond { get; set; }
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/// <summary>
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/// 前进方向的目标巡航速度；单位 m/s，默认值 1，必须为正有限值且不得超过 <see cref="MaximumForwardSpeedMetersPerSecond"/>。
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/// </summary>
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public double DesiredForwardSpeedMetersPerSecond { get; set; }
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/// <summary>
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/// 倒车方向的目标巡航速度；单位 m/s，默认值 0.5，必须为正有限值且不得超过 <see cref="MaximumReverseSpeedMetersPerSecond"/>。
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/// </summary>
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public double DesiredReverseSpeedMetersPerSecond { get; set; }
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/// <summary>
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/// 允许的最大纵向加速度；单位 m/s²，默认值 0.20，必须为正有限值。
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/// </summary>
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public double MaximumAccelerationMetersPerSecondSquared { get; set; }
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/// <summary>
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/// 允许的最大纵向减速度幅值；单位 m/s²，默认值 0.30，必须为正有限值。
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/// </summary>
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public double MaximumDecelerationMetersPerSecondSquared { get; set; }
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/// <summary>
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/// 允许的最大纵向加加速度幅值；单位 m/s³，默认值 0.50，必须为正有限值。
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/// </summary>
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public double MaximumJerkMetersPerSecondCubed { get; set; }
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/// <summary>
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/// 由速度和曲率共同施加的最大横向加速度；单位 m/s²，默认值 0.20，必须为正有限值。
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/// </summary>
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public double MaximumLateralAccelerationMetersPerSecondSquared { get; set; }
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/// <summary>
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/// 车辆曲率随时间变化的上限；单位 1/(m·s)，默认值 0.50，必须为正有限值。
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/// </summary>
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public double MaximumCurvatureRatePerMeterPerSecond { get; set; }
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/// <summary>
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/// 将进度速度视为停止的容差；单位 m/s，默认值 0.01，必须为非负有限值。
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/// </summary>
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public double StopSpeedToleranceMetersPerSecond { get; set; }
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/// <summary>
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/// 到达零速度后需保持的时长；单位 s，默认值 0.20，必须为正有限值。
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/// </summary>
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public double ZeroSpeedHoldSeconds { get; set; }
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/// <summary>
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/// 纵向 QP 目标函数的权重集合；无直接单位，必须非空且其每项为非负有限值，默认值为新的 <see cref="LongitudinalWeights"/> 对象。
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/// </summary>
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public LongitudinalWeights Weights { get; set; }
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/// <summary>
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/// 复制当前纵向配置；输入为当前标量和权重引用，输出为不共享非空权重对象的可修改快照，权重为 <c>null</c> 时保持为空且不产生失败状态。
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/// </summary>
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internal LongitudinalConfiguration Copy()
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{
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return new LongitudinalConfiguration
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{
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MaximumForwardSpeedMetersPerSecond = MaximumForwardSpeedMetersPerSecond,
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MaximumReverseSpeedMetersPerSecond = MaximumReverseSpeedMetersPerSecond,
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DesiredForwardSpeedMetersPerSecond = DesiredForwardSpeedMetersPerSecond,
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DesiredReverseSpeedMetersPerSecond = DesiredReverseSpeedMetersPerSecond,
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MaximumAccelerationMetersPerSecondSquared = MaximumAccelerationMetersPerSecondSquared,
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MaximumDecelerationMetersPerSecondSquared = MaximumDecelerationMetersPerSecondSquared,
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MaximumJerkMetersPerSecondCubed = MaximumJerkMetersPerSecondCubed,
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MaximumLateralAccelerationMetersPerSecondSquared = MaximumLateralAccelerationMetersPerSecondSquared,
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MaximumCurvatureRatePerMeterPerSecond = MaximumCurvatureRatePerMeterPerSecond,
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StopSpeedToleranceMetersPerSecond = StopSpeedToleranceMetersPerSecond,
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ZeroSpeedHoldSeconds = ZeroSpeedHoldSeconds,
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Weights = Weights == null ? null : Weights.Copy(),
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};
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}
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}
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