feat: compare and rank smoothing methods

2026-07-29 15:30:50 +08:00
parent a693cbf323
commit 09953ab1f1
8 changed files with 968 additions and 0 deletions
@@ -0,0 +1,60 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Comparison;
+
+/// <summary>同一粗路径的离线平滑比较请求。</summary>
+public sealed class PathSmoothingComparisonRequest
+{
+    private static readonly SmoothingMethod[] DefaultMethods =
+    {
+        SmoothingMethod.CubicBSpline,
+        SmoothingMethod.LocalCubicBezier,
+        SmoothingMethod.PiecewiseQuintic,
+    };
+
+    /// <summary>创建比较请求，并固定原始输入与方法顺序。</summary>
+    public PathSmoothingComparisonRequest(
+        PathSmoothingRequest smoothingRequest,
+        IReadOnlyList<SmoothingMethod> methods = null)
+    {
+        SmoothingRequest = CopyRequest(smoothingRequest);
+        Methods = CopyMethods(methods ?? DefaultMethods);
+    }
+
+    /// <summary>所有方法共享的不可变粗路径、地图、车辆和配置快照。</summary>
+    public PathSmoothingRequest SmoothingRequest { get; }
+
+    /// <summary>按调用方指定稳定顺序运行的方法集合。</summary>
+    public IReadOnlyList<SmoothingMethod> Methods { get; }
+
+    private static PathSmoothingRequest CopyRequest(PathSmoothingRequest source)
+    {
+        if (source == null) return null;
+        return new PathSmoothingRequest(
+            source.CoarsePath,
+            source.Segments,
+            source.Map,
+            source.Vehicle,
+            source.Configuration);
+    }
+
+    private static IReadOnlyList<SmoothingMethod> CopyMethods(IReadOnlyList<SmoothingMethod> source)
+    {
+        var copy = new List<SmoothingMethod>(source == null ? 0 : source.Count);
+        if (source != null)
+        {
+            for (int index = 0; index < source.Count; index++)
+            {
+                SmoothingMethod method = source[index];
+                if (!Enum.IsDefined(typeof(SmoothingMethod), method))
+                    throw new ArgumentOutOfRangeException(nameof(source), "比较方法无效。");
+                if (copy.Contains(method))
+                    throw new ArgumentException("比较方法不能重复。", nameof(source));
+                copy.Add(method);
+            }
+        }
+        return new ReadOnlyCollection<SmoothingMethod>(copy);
+    }
+}