46 lines
2.0 KiB
C#
46 lines
2.0 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.EMPlanner;
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/// <summary>
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/// 供成功规划结果发布的时间参数化轨迹；本类型只施加结构约束，世界空间复核由上游服务完成，点序列、元数据和终端语义在发布后保持不可变。
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/// </summary>
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public sealed class EmTrajectory
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{
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/// <summary>
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/// 创建可发布的轨迹并复制点列表容器。元数据和每个点对象按引用保存、调用方仍拥有它们；传入列表可随后修改而不影响 <see cref="Points"/>，且 null 或空列表会抛出异常。
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/// </summary>
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public EmTrajectory(EmTrajectoryMetadata metadata, IReadOnlyList<EmTrajectoryPoint> points)
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{
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if (metadata == null)
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throw new ArgumentNullException(nameof(metadata));
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if (points == null)
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throw new ArgumentNullException(nameof(points));
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if (points.Count == 0)
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throw new ArgumentException("A published trajectory requires at least one point.", nameof(points));
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var copy = new List<EmTrajectoryPoint>(points.Count);
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for (int index = 0; index < points.Count; index++)
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{
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if (points[index] == null)
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throw new ArgumentException("Trajectory points cannot contain null values.", nameof(points));
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copy.Add(points[index]);
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}
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Metadata = metadata;
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Points = new ReadOnlyCollection<EmTrajectoryPoint>(copy);
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}
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/// <summary>
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/// 轨迹的不可变发布元数据引用；构造时必须非 null，未在本类中深拷贝。
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/// </summary>
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public EmTrajectoryMetadata Metadata { get; }
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/// <summary>
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/// 按调用方提供顺序保存的只读点列表；列表容器为构造时复制的快照，至少包含一个非 null 点，时间单调性由上游验证保证而非本构造器检查。
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/// </summary>
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public IReadOnlyList<EmTrajectoryPoint> Points { get; }
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}
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