97 lines
5.4 KiB
C#
97 lines
5.4 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.EMPlanner;
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/// <summary>
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/// 将已发布的平滑参考路径拆分为不会跨越换向点的局部方向段视图。
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/// 每个输出段以局部 S=0 重基（m），同时保留原始累计弧长（m）及目标/换向边界语义；索引覆盖或弧长不连续会被拒绝。
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/// </summary>
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public static class ReferencePathSegmenter
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{
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/// <summary>
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/// 从已验证的平滑路径及其方向分段创建局部方向段视图。
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/// 参数：referencePath 必须含完整 Path 和 Segments，路径弧长为有限 m 制量；返回：按源段索引排列的只读视图，任何漏覆盖、方向或严格递增弧长错误均引发异常。
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/// </summary>
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public static IReadOnlyList<DirectionSegmentView> Create(PathSmoothingResult referencePath)
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{
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if (referencePath == null || referencePath.Path == null || referencePath.Segments == null ||
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referencePath.Path.Count == 0 || referencePath.Segments.Count == 0)
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throw new ArgumentException("A published reference path with direction segments is required.", nameof(referencePath));
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var result = new List<DirectionSegmentView>(referencePath.Segments.Count);
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int expectedStart = 0;
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for (int segmentListIndex = 0; segmentListIndex < referencePath.Segments.Count; segmentListIndex++)
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{
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SmoothedPathSegment sourceSegment = referencePath.Segments[segmentListIndex];
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if (sourceSegment == null || sourceSegment.SegmentIndex != segmentListIndex ||
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sourceSegment.StartIndex != expectedStart || sourceSegment.StartIndex < 0 ||
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sourceSegment.EndIndex < sourceSegment.StartIndex || sourceSegment.EndIndex >= referencePath.Path.Count)
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throw new ArgumentException("Reference path segment indexing is invalid.", nameof(referencePath));
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SmoothedPathPoint firstSourcePoint = referencePath.Path[sourceSegment.StartIndex];
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if (firstSourcePoint == null || firstSourcePoint.Direction != sourceSegment.Direction)
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throw new ArgumentException("Reference path segment start is invalid.", nameof(referencePath));
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double sourceStartS = firstSourcePoint.ArcLength;
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var rebasedPoints = new List<SmoothedPathPoint>(sourceSegment.EndIndex - sourceSegment.StartIndex + 1);
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double previousLocalS = -1d;
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for (int pathIndex = sourceSegment.StartIndex; pathIndex <= sourceSegment.EndIndex; pathIndex++)
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{
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SmoothedPathPoint sourcePoint = referencePath.Path[pathIndex];
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if (sourcePoint == null || sourcePoint.Direction != sourceSegment.Direction ||
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double.IsNaN(sourcePoint.ArcLength) || double.IsInfinity(sourcePoint.ArcLength))
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throw new ArgumentException("Reference path point is invalid.", nameof(referencePath));
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double localS = sourcePoint.ArcLength - sourceStartS;
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if (localS < 0d || (pathIndex > sourceSegment.StartIndex && localS <= previousLocalS))
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throw new ArgumentException("Reference path segment arc length must strictly increase.", nameof(referencePath));
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rebasedPoints.Add(CloneAtLocalS(sourcePoint, localS));
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previousLocalS = localS;
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}
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EmBoundaryType startType = sourceSegment.StartsAtGearSwitch
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? EmBoundaryType.GearSwitchDeparture
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: EmBoundaryType.None;
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EmBoundaryType endType = sourceSegment.EndsAtGearSwitch
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? EmBoundaryType.GearSwitchApproach
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: segmentListIndex == referencePath.Segments.Count - 1
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? EmBoundaryType.Goal
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: EmBoundaryType.None;
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var startBoundary = new ReferenceBoundary(sourceSegment.SegmentIndex, 0d, startType, sourceStartS);
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var endBoundary = new ReferenceBoundary(sourceSegment.SegmentIndex, previousLocalS, endType,
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referencePath.Path[sourceSegment.EndIndex].ArcLength);
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result.Add(new DirectionSegmentView(sourceSegment.SegmentIndex, sourceSegment.Direction, rebasedPoints,
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startBoundary, endBoundary, sourceStartS));
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expectedStart = sourceSegment.EndIndex + 1;
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}
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if (expectedStart != referencePath.Path.Count)
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throw new ArgumentException("Reference path segments do not cover the full path.", nameof(referencePath));
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return new ReadOnlyCollection<DirectionSegmentView>(result);
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}
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/// <summary>
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/// 复制一个源参考点并将其弧长重基到当前方向段局部坐标。
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/// 参数：source 保存世界 X/Y（m）、航向（rad）和曲率量，localS 为非负段局部 m 制弧长；返回：除 ArcLength 外保持源点几何和来源不变的副本。
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/// </summary>
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internal static SmoothedPathPoint CloneAtLocalS(SmoothedPathPoint source, double localS)
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{
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return new SmoothedPathPoint(
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source.X,
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source.Y,
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source.Heading,
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source.UnwrappedHeading,
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localS,
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source.Direction,
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source.GeometricCurvature,
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source.VehicleCurvature,
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source.VehicleCurvatureDerivative,
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source.BodyClearance,
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source.IsGearSwitchPoint,
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source.Source);
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}
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}
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