100 lines
5.0 KiB
C#
100 lines
5.0 KiB
C#
using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.Mapping;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
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/// <summary>
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/// 一次路径平滑所需的不可变输入快照。
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/// 粗路径、方向段、车辆和配置均在构造时复制；地图保留为调用方已冻结的 <see cref="PlanningGridMap"/> 快照。
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/// </summary>
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public sealed class PathSmoothingRequest
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{
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private readonly VehicleParameters _vehicle;
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private readonly PathSmoothingConfiguration _configuration;
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/// <summary>
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/// 创建路径平滑请求，并防御性复制可变的路径、分段、车辆和配置输入。
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/// </summary>
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/// <param name="coarsePath">按起点到终点顺序排列的粗路径点集合；位置与弧长单位为 m，航向单位为 rad。</param>
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/// <param name="segments">与 <paramref name="coarsePath"/> 对应的前进/倒车包含式方向分段集合。</param>
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/// <param name="map">用于完整车体碰撞与净空复核的已准备不可变规划地图快照。</param>
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/// <param name="vehicle">车辆长宽、安全余量和曲率约束；长度单位为 m，曲率单位为 1/m。</param>
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/// <param name="configuration">本次平滑的采样、净空、曲率和 Local G2 配置；构造后不会与调用方共享可变实例。</param>
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public PathSmoothingRequest(
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IReadOnlyList<CoarsePathPoint> coarsePath,
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IReadOnlyList<PathSegment> segments,
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PlanningGridMap map,
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VehicleParameters vehicle,
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PathSmoothingConfiguration configuration)
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{
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CoarsePath = CopyReadOnly(coarsePath);
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Segments = CopyReadOnly(segments);
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Map = map;
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_vehicle = CopyVehicle(vehicle);
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_configuration = CopyConfiguration(configuration);
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}
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/// <summary>原始粗路径的只读快照，按起点到终点顺序排列；位置与弧长单位为 m，航向单位为 rad。</summary>
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public IReadOnlyList<CoarsePathPoint> CoarsePath { get; }
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/// <summary>原始粗路径方向分段的只读快照；每段标识连续前进或倒车区间。</summary>
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public IReadOnlyList<PathSegment> Segments { get; }
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/// <summary>用于平滑后完整车体碰撞和净空复核的已冻结规划栅格地图快照。</summary>
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public PlanningGridMap Map { get; }
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/// <summary>车辆几何与最大曲率约束的不可变快照副本。</summary>
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public VehicleParameters Vehicle => CopyVehicle(_vehicle);
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/// <summary>本次平滑配置的不可变快照副本。</summary>
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public PathSmoothingConfiguration Configuration => CopyConfiguration(_configuration);
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private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)
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{
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var copy = new List<T>(source == null ? 0 : source.Count);
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if (source != null)
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{
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for (int index = 0; index < source.Count; index++)
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copy.Add(source[index]);
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}
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return new ReadOnlyCollection<T>(copy);
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}
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private static VehicleParameters CopyVehicle(VehicleParameters source)
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{
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if (source == null) return null;
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return new VehicleParameters
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{
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LengthMeters = source.LengthMeters,
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WidthMeters = source.WidthMeters,
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SafetyMarginMeters = source.SafetyMarginMeters,
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MaximumCurvaturePerMeter = source.MaximumCurvaturePerMeter,
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MinimumTurningRadiusMeters = source.MinimumTurningRadiusMeters,
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};
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}
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private static PathSmoothingConfiguration CopyConfiguration(PathSmoothingConfiguration source)
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{
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if (source == null) return null;
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var copy = new PathSmoothingConfiguration
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{
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OutputSpacingMeters = source.OutputSpacingMeters,
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MaximumCollisionCheckStepMeters = source.MaximumCollisionCheckStepMeters,
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MinimumClearanceReserveMeters = source.MinimumClearanceReserveMeters,
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CurvatureLimitRadiusToleranceMeters = source.CurvatureLimitRadiusToleranceMeters,
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};
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copy.LocalG2Quintic.MinimumWindowLengthMeters = source.LocalG2Quintic.MinimumWindowLengthMeters;
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copy.LocalG2Quintic.PreferredWindowLengthMeters = source.LocalG2Quintic.PreferredWindowLengthMeters;
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copy.LocalG2Quintic.MaximumWindowLengthMeters = source.LocalG2Quintic.MaximumWindowLengthMeters;
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copy.LocalG2Quintic.MaximumDeviationMeters = source.LocalG2Quintic.MaximumDeviationMeters;
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copy.LocalG2Quintic.AbsoluteCurvatureJumpFloorPerMeter = source.LocalG2Quintic.AbsoluteCurvatureJumpFloorPerMeter;
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copy.LocalG2Quintic.CurvatureJumpRatioOfMaximum = source.LocalG2Quintic.CurvatureJumpRatioOfMaximum;
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copy.LocalG2Quintic.MinimumPeakGradientImprovementRatio = source.LocalG2Quintic.MinimumPeakGradientImprovementRatio;
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copy.LocalG2Quintic.MaximumVariationCostRegressionRatio = source.LocalG2Quintic.MaximumVariationCostRegressionRatio;
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copy.LocalG2Quintic.MaximumCandidatesPerRegion = source.LocalG2Quintic.MaximumCandidatesPerRegion;
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return copy;
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}
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}
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