49 lines
1.9 KiB
C#
49 lines
1.9 KiB
C#
using MultiWheelC.TrajectoryPlanning.CoarsePath;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
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/// <summary>平滑路径中方向一致的连续点范围；起止索引均包含在内。</summary>
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public sealed class SmoothedPathSegment
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{
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/// <summary>创建覆盖平滑路径连续索引范围的方向段。</summary>
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/// <param name="segmentIndex">从零开始的方向段编号。</param>
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/// <param name="direction">该段实际行驶方向。</param>
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/// <param name="startIndex">该段首点在完整平滑路径中的包含式索引。</param>
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/// <param name="endIndex">该段末点在完整平滑路径中的包含式索引。</param>
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/// <param name="startsAtGearSwitch">是否从换向后保留的新方向点开始。</param>
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/// <param name="endsAtGearSwitch">是否在紧邻下一方向段的换向对之前结束。</param>
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public SmoothedPathSegment(
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int segmentIndex,
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TravelDirection direction,
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int startIndex,
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int endIndex,
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bool startsAtGearSwitch,
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bool endsAtGearSwitch)
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{
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SegmentIndex = segmentIndex;
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Direction = direction;
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StartIndex = startIndex;
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EndIndex = endIndex;
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StartsAtGearSwitch = startsAtGearSwitch;
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EndsAtGearSwitch = endsAtGearSwitch;
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}
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/// <summary>从零开始的分段序号。</summary>
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public int SegmentIndex { get; }
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/// <summary>本段行驶方向。</summary>
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public TravelDirection Direction { get; }
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/// <summary>本段在平滑路径中的起始包含式索引。</summary>
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public int StartIndex { get; }
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/// <summary>本段在平滑路径中的结束包含式索引。</summary>
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public int EndIndex { get; }
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/// <summary>本段首点是否为换向后保留的新方向点。</summary>
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public bool StartsAtGearSwitch { get; }
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/// <summary>本段末点是否紧邻下一方向段的换向对。</summary>
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public bool EndsAtGearSwitch { get; }
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}
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