feat: build local G2 smoothing candidates
This commit is contained in:
梁薄云
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Threading;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
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using MultiWheelC.TrajectoryPlanning.Utils;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.LocalG2;
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/// <summary>以固定窗口和尺度顺序构造有限的局部五次 Hermite G2 候选。</summary>
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internal sealed class LocalG2CandidateBuilder
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{
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private const double MinimumDerivativeNorm = 1e-10d;
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private const int MaximumSubdivisionDepth = 32;
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private static readonly double[] DerivativeScaleMultipliers = { 1d, 0.85d, 1.15d };
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internal IReadOnlyList<LocalG2CandidateGeometry> Build(
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PreparedDirectionSegment originalSegment,
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LocalG2SmoothingRegion region,
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double outputSpacingMeters,
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LocalG2OptionsSnapshot options,
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CancellationToken cancellationToken)
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{
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if (!IsValidInput(originalSegment, region, outputSpacingMeters, options)) return Empty();
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var candidates = new List<LocalG2CandidateGeometry>();
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for (int windowIndex = 0; windowIndex < region.WindowVariants.Count; windowIndex++)
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{
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LocalG2WindowVariant window = region.WindowVariants[windowIndex];
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for (int scaleIndex = 0; scaleIndex < DerivativeScaleMultipliers.Length; scaleIndex++)
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{
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cancellationToken.ThrowIfCancellationRequested();
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if (candidates.Count >= Math.Min(options.MaximumCandidatesPerRegion, 12)) return ReadOnly(candidates);
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if (TryBuildCandidate(
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candidates.Count,
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originalSegment,
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region,
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window,
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DerivativeScaleMultipliers[scaleIndex],
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outputSpacingMeters,
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cancellationToken,
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out LocalG2CandidateGeometry candidate))
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{
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candidates.Add(candidate);
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}
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}
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}
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return ReadOnly(candidates);
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}
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private static bool TryBuildCandidate(
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int candidateIndex,
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PreparedDirectionSegment segment,
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LocalG2SmoothingRegion region,
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LocalG2WindowVariant window,
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double multiplier,
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double outputSpacingMeters,
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CancellationToken cancellationToken,
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out LocalG2CandidateGeometry candidate)
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{
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candidate = null;
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if (!PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, window.StartArcLengthMeters, out SmoothingPoint2D startReference, out _) ||
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!PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, window.EndArcLengthMeters, out SmoothingPoint2D endReference, out _))
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{
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return false;
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}
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double directionSign = segment.Direction == TravelDirection.Forward ? 1d : -1d;
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CurvatureTransition first = region.Transitions[0];
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CurvatureTransition last = region.Transitions[region.Transitions.Count - 1];
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bool firstAtStart = SameArc(first.LocalArcLengthMeters, window.StartArcLengthMeters);
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bool lastAtEnd = SameArc(last.LocalArcLengthMeters, window.EndArcLengthMeters);
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double startVehicleCurvature = firstAtStart && segment.StartVehicleCurvaturePerMeter.HasValue
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? segment.StartVehicleCurvaturePerMeter.Value
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: first.LeftVehicleCurvaturePerMeter;
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double endVehicleCurvature = last.RightVehicleCurvaturePerMeter;
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if (!NumericGuard.IsFinite(startVehicleCurvature) || !NumericGuard.IsFinite(endVehicleCurvature)) return false;
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var nodes = new List<BoundaryNode>();
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nodes.Add(new BoundaryNode(window.StartArcLengthMeters, startReference.X, startReference.Y,
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startReference.Heading, startVehicleCurvature));
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for (int transitionIndex = 0; transitionIndex < region.Transitions.Count; transitionIndex++)
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{
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CurvatureTransition transition = region.Transitions[transitionIndex];
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bool atStart = SameArc(transition.LocalArcLengthMeters, window.StartArcLengthMeters);
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bool atEnd = SameArc(transition.LocalArcLengthMeters, window.EndArcLengthMeters);
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// A one-sided transition at a hard segment boundary has no left/right zero-length piece.
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if (atStart || atEnd) continue;
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double leftAvailable = transition.LocalArcLengthMeters - window.StartArcLengthMeters;
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double rightAvailable = window.EndArcLengthMeters - transition.LocalArcLengthMeters;
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double denominator = leftAvailable + rightAvailable;
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if (!NumericGuard.IsPositiveFinite(denominator)) return false;
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double sharedCurvature = transition.LeftVehicleCurvaturePerMeter +
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(transition.RightVehicleCurvaturePerMeter - transition.LeftVehicleCurvaturePerMeter) * leftAvailable / denominator;
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if (!NumericGuard.IsFinite(sharedCurvature)) return false;
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nodes.Add(new BoundaryNode(transition.LocalArcLengthMeters, transition.X, transition.Y,
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transition.VehicleHeadingRadians, sharedCurvature));
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}
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nodes.Add(new BoundaryNode(window.EndArcLengthMeters, endReference.X, endReference.Y,
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endReference.Heading, endVehicleCurvature));
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if (!TryAssignDerivativeScales(nodes, multiplier) || nodes.Count < 2) return false;
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var sampled = new List<SmoothingPoint2D>();
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for (int nodeIndex = 1; nodeIndex < nodes.Count; nodeIndex++)
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{
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cancellationToken.ThrowIfCancellationRequested();
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BoundaryNode left = nodes[nodeIndex - 1];
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BoundaryNode right = nodes[nodeIndex];
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if (!TryCreateCurve(left, right, directionSign, out QuinticHermiteCurve2D curve)) return false;
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if (!TryAppendCurveSamples(
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curve,
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left,
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right,
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segment,
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outputSpacingMeters,
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sampled,
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cancellationToken))
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{
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return false;
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}
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}
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if (sampled.Count < 2) return false;
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candidate = new LocalG2CandidateGeometry(
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candidateIndex,
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segment.SegmentIndex,
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window.StartArcLengthMeters,
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window.EndArcLengthMeters,
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window.LeftWindowLengthMeters,
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window.RightWindowLengthMeters,
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sampled,
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startVehicleCurvature,
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endVehicleCurvature,
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directionSign * startVehicleCurvature,
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directionSign * endVehicleCurvature,
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true);
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return true;
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}
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private static bool TryAssignDerivativeScales(List<BoundaryNode> nodes, double multiplier)
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{
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if (!NumericGuard.IsPositiveFinite(multiplier)) return false;
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for (int index = 0; index < nodes.Count; index++)
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{
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double scale;
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if (index == 0) scale = nodes[1].ArcLengthMeters - nodes[0].ArcLengthMeters;
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else if (index == nodes.Count - 1) scale = nodes[index].ArcLengthMeters - nodes[index - 1].ArcLengthMeters;
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else scale = ((nodes[index].ArcLengthMeters - nodes[index - 1].ArcLengthMeters) +
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(nodes[index + 1].ArcLengthMeters - nodes[index].ArcLengthMeters)) / 2d;
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scale *= multiplier;
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if (!NumericGuard.IsPositiveFinite(scale)) return false;
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nodes[index] = nodes[index].WithDerivativeScale(scale);
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}
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return true;
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}
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private static bool TryCreateCurve(BoundaryNode left, BoundaryNode right, double directionSign, out QuinticHermiteCurve2D curve)
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{
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curve = null;
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if (!TryGetDerivatives(left, directionSign, out double ldx, out double ldy, out double lddx, out double lddy) ||
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!TryGetDerivatives(right, directionSign, out double rdx, out double rdy, out double rddx, out double rddy))
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{
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return false;
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}
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return QuinticHermiteCurve2D.TryCreate(left.X, left.Y, ldx, ldy, lddx, lddy,
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right.X, right.Y, rdx, rdy, rddx, rddy, out curve, out _);
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}
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private static bool TryGetDerivatives(BoundaryNode node, double directionSign,
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out double dx, out double dy, out double ddx, out double ddy)
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{
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dx = dy = ddx = ddy = 0d;
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double travelHeading = directionSign > 0d ? node.VehicleHeadingRadians : node.VehicleHeadingRadians - Math.PI;
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double geometricCurvature = directionSign * node.VehicleCurvaturePerMeter;
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double tx = Math.Cos(travelHeading);
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double ty = Math.Sin(travelHeading);
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double nx = -ty;
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double ny = tx;
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dx = node.DerivativeScale * tx;
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dy = node.DerivativeScale * ty;
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ddx = node.DerivativeScale * node.DerivativeScale * geometricCurvature * nx;
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ddy = node.DerivativeScale * node.DerivativeScale * geometricCurvature * ny;
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return NumericGuard.IsFinite(dx) && NumericGuard.IsFinite(dy) && NumericGuard.IsFinite(ddx) && NumericGuard.IsFinite(ddy) &&
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Math.Sqrt(dx * dx + dy * dy) >= MinimumDerivativeNorm;
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}
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private static bool TryAppendCurveSamples(
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QuinticHermiteCurve2D curve,
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BoundaryNode left,
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BoundaryNode right,
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PreparedDirectionSegment segment,
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double outputSpacingMeters,
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List<SmoothingPoint2D> output,
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CancellationToken cancellationToken)
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{
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if (!TryEvaluate(curve, 0d, out CurveSample start) || !TryEvaluate(curve, 1d, out CurveSample end)) return false;
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if (output.Count == 0 && !TryAppendPoint(start, left, right, segment, output)) return false;
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return TrySubdivide(curve, left, right, segment, outputSpacingMeters, 0d, start, 1d, end, 0, output, cancellationToken);
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}
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private static bool TrySubdivide(
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QuinticHermiteCurve2D curve,
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BoundaryNode left,
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BoundaryNode right,
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PreparedDirectionSegment segment,
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double outputSpacingMeters,
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double u0,
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CurveSample sample0,
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double u1,
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CurveSample sample1,
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int depth,
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List<SmoothingPoint2D> output,
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CancellationToken cancellationToken)
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{
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cancellationToken.ThrowIfCancellationRequested();
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if (Distance(sample0, sample1) <= outputSpacingMeters)
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{
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return TryAppendPoint(sample1, left, right, segment, output);
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}
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if (depth >= MaximumSubdivisionDepth) return false;
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double middle = (u0 + u1) / 2d;
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if (!TryEvaluate(curve, middle, out CurveSample middleSample)) return false;
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return TrySubdivide(curve, left, right, segment, outputSpacingMeters, u0, sample0, middle, middleSample,
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depth + 1, output, cancellationToken) &&
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TrySubdivide(curve, left, right, segment, outputSpacingMeters, middle, middleSample, u1, sample1,
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depth + 1, output, cancellationToken);
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}
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private static bool TryAppendPoint(
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CurveSample sample,
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BoundaryNode left,
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BoundaryNode right,
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PreparedDirectionSegment segment,
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List<SmoothingPoint2D> output)
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{
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double referenceArcLength = left.ArcLengthMeters + (right.ArcLengthMeters - left.ArcLengthMeters) * sample.Parameter;
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if (!PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, referenceArcLength, out SmoothingPoint2D reference, out _))
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return false;
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double x = SameArc(sample.Parameter, 0d) ? left.X : SameArc(sample.Parameter, 1d) ? right.X : sample.X;
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double y = SameArc(sample.Parameter, 0d) ? left.Y : SameArc(sample.Parameter, 1d) ? right.Y : sample.Y;
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double travelHeading = Math.Atan2(sample.Dy, sample.Dx);
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double vehicleHeading = segment.Direction == TravelDirection.Forward ? travelHeading : travelHeading + Math.PI;
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if (!NumericGuard.IsFinite(x) || !NumericGuard.IsFinite(y) || !NumericGuard.IsFinite(travelHeading) || !NumericGuard.IsFinite(vehicleHeading)) return false;
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if (output.Count > 0 && Distance(output[output.Count - 1], x, y) <= 1e-12d) return false;
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output.Add(new SmoothingPoint2D(
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x,
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y,
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referenceArcLength,
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AngleMath.NormalizeRadians(vehicleHeading),
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vehicleHeading,
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reference.BodyClearance,
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false,
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SmoothedPathPointSource.LocalG2Transition));
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return true;
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}
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private static bool TryEvaluate(QuinticHermiteCurve2D curve, double parameter, out CurveSample sample)
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{
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sample = default;
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curve.Evaluate(parameter, out double x, out double y, out double dx, out double dy, out double ddx, out double ddy);
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double derivativeNorm = Math.Sqrt(dx * dx + dy * dy);
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if (!NumericGuard.IsFinite(x) || !NumericGuard.IsFinite(y) || !NumericGuard.IsFinite(dx) || !NumericGuard.IsFinite(dy) ||
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!NumericGuard.IsFinite(ddx) || !NumericGuard.IsFinite(ddy) || !NumericGuard.IsFinite(derivativeNorm) ||
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derivativeNorm < MinimumDerivativeNorm)
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{
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return false;
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}
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sample = new CurveSample(parameter, x, y, dx, dy);
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return true;
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}
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private static bool IsValidInput(PreparedDirectionSegment segment, LocalG2SmoothingRegion region,
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double outputSpacingMeters, LocalG2OptionsSnapshot options)
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{
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if (segment == null || region == null || options == null || segment.SegmentIndex != region.SegmentIndex ||
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!NumericGuard.IsPositiveFinite(outputSpacingMeters) || segment.Points == null || segment.Points.Count < 2 ||
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region.Transitions == null || region.Transitions.Count == 0 || region.WindowVariants == null)
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{
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return false;
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}
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for (int index = 0; index < region.Transitions.Count; index++)
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{
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CurvatureTransition transition = region.Transitions[index];
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if (transition == null || transition.SegmentIndex != segment.SegmentIndex) return false;
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}
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return true;
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}
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private static double Distance(CurveSample left, CurveSample right) => Distance(left.X, left.Y, right.X, right.Y);
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private static double Distance(SmoothingPoint2D point, double x, double y) => Distance(point.X, point.Y, x, y);
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private static double Distance(double x0, double y0, double x1, double y1)
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{
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double dx = x1 - x0;
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double dy = y1 - y0;
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return Math.Sqrt(dx * dx + dy * dy);
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}
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private static bool SameArc(double left, double right) => Math.Abs(left - right) <= 1e-10d;
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private static IReadOnlyList<LocalG2CandidateGeometry> Empty() => new ReadOnlyCollection<LocalG2CandidateGeometry>(new List<LocalG2CandidateGeometry>());
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private static IReadOnlyList<LocalG2CandidateGeometry> ReadOnly(List<LocalG2CandidateGeometry> values) =>
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new ReadOnlyCollection<LocalG2CandidateGeometry>(values);
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private readonly struct BoundaryNode
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{
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internal BoundaryNode(double arcLengthMeters, double x, double y, double vehicleHeadingRadians, double vehicleCurvaturePerMeter)
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{
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ArcLengthMeters = arcLengthMeters;
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X = x;
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Y = y;
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VehicleHeadingRadians = vehicleHeadingRadians;
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VehicleCurvaturePerMeter = vehicleCurvaturePerMeter;
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DerivativeScale = 0d;
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}
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private BoundaryNode(double arcLengthMeters, double x, double y, double vehicleHeadingRadians,
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double vehicleCurvaturePerMeter, double derivativeScale)
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{
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ArcLengthMeters = arcLengthMeters;
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X = x;
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Y = y;
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VehicleHeadingRadians = vehicleHeadingRadians;
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VehicleCurvaturePerMeter = vehicleCurvaturePerMeter;
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DerivativeScale = derivativeScale;
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}
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internal double ArcLengthMeters { get; }
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internal double X { get; }
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internal double Y { get; }
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internal double VehicleHeadingRadians { get; }
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internal double VehicleCurvaturePerMeter { get; }
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internal double DerivativeScale { get; }
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internal BoundaryNode WithDerivativeScale(double derivativeScale) => new BoundaryNode(
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ArcLengthMeters, X, Y, VehicleHeadingRadians, VehicleCurvaturePerMeter, derivativeScale);
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||||||
|
}
|
||||||
|
|
||||||
|
private readonly struct CurveSample
|
||||||
|
{
|
||||||
|
internal CurveSample(double parameter, double x, double y, double dx, double dy)
|
||||||
|
{
|
||||||
|
Parameter = parameter;
|
||||||
|
X = x;
|
||||||
|
Y = y;
|
||||||
|
Dx = dx;
|
||||||
|
Dy = dy;
|
||||||
|
}
|
||||||
|
internal double Parameter { get; }
|
||||||
|
internal double X { get; }
|
||||||
|
internal double Y { get; }
|
||||||
|
internal double Dx { get; }
|
||||||
|
internal double Dy { get; }
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>反射脚本使用的窄范围候选与拼接场景入口。</summary>
|
||||||
|
public static class TestHooks
|
||||||
|
{
|
||||||
|
public static CandidateTestSnapshot Execute(string scenario)
|
||||||
|
{
|
||||||
|
if (string.IsNullOrWhiteSpace(scenario)) throw new ArgumentException("A scenario is required.", nameof(scenario));
|
||||||
|
switch (scenario)
|
||||||
|
{
|
||||||
|
case "Isolated": return BuildIsolated();
|
||||||
|
case "Cluster": return BuildCluster();
|
||||||
|
case "Reverse": return BuildReverse();
|
||||||
|
case "Spliced": return BuildSpliced();
|
||||||
|
case "StartBoundary": return BuildStartBoundary();
|
||||||
|
default: throw new ArgumentOutOfRangeException(nameof(scenario));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public sealed class CandidateTestSnapshot
|
||||||
|
{
|
||||||
|
internal CandidateTestSnapshot(int candidateCount, double startPositionError, double endPositionError,
|
||||||
|
double startCurvatureError, double endCurvatureError, bool containsLocalG2Source,
|
||||||
|
int outputRegionCount, bool internalConnectionsAreG2, string direction,
|
||||||
|
bool vehicleAndGeometricCurvatureSignsAreOpposite, bool noDuplicateNonGearPoints,
|
||||||
|
bool endpointsUnchanged)
|
||||||
|
{
|
||||||
|
CandidateCount = candidateCount;
|
||||||
|
StartPositionError = startPositionError;
|
||||||
|
EndPositionError = endPositionError;
|
||||||
|
StartCurvatureError = startCurvatureError;
|
||||||
|
EndCurvatureError = endCurvatureError;
|
||||||
|
ContainsLocalG2Source = containsLocalG2Source;
|
||||||
|
OutputRegionCount = outputRegionCount;
|
||||||
|
InternalConnectionsAreG2 = internalConnectionsAreG2;
|
||||||
|
Direction = direction;
|
||||||
|
VehicleAndGeometricCurvatureSignsAreOpposite = vehicleAndGeometricCurvatureSignsAreOpposite;
|
||||||
|
NoDuplicateNonGearPoints = noDuplicateNonGearPoints;
|
||||||
|
EndpointsUnchanged = endpointsUnchanged;
|
||||||
|
}
|
||||||
|
public int CandidateCount { get; }
|
||||||
|
public double StartPositionError { get; }
|
||||||
|
public double EndPositionError { get; }
|
||||||
|
public double StartCurvatureError { get; }
|
||||||
|
public double EndCurvatureError { get; }
|
||||||
|
public bool ContainsLocalG2Source { get; }
|
||||||
|
public int OutputRegionCount { get; }
|
||||||
|
public bool InternalConnectionsAreG2 { get; }
|
||||||
|
public string Direction { get; }
|
||||||
|
public bool VehicleAndGeometricCurvatureSignsAreOpposite { get; }
|
||||||
|
public bool NoDuplicateNonGearPoints { get; }
|
||||||
|
public bool EndpointsUnchanged { get; }
|
||||||
|
}
|
||||||
|
|
||||||
|
private static CandidateTestSnapshot BuildIsolated()
|
||||||
|
{
|
||||||
|
PreparedDirectionSegment segment = CreateSegment(TravelDirection.Forward, null);
|
||||||
|
LocalG2SmoothingRegion region = CreateRegion(new[]
|
||||||
|
{
|
||||||
|
new CurvatureTransition(0, 1, 2, 0.5d, 0.5d, 0d, 0d, 0d, 0.4d),
|
||||||
|
}, 0.25d, 0.75d);
|
||||||
|
IReadOnlyList<LocalG2CandidateGeometry> candidates = new LocalG2CandidateBuilder().Build(
|
||||||
|
segment, region, 0.025d, CreateOptions(), CancellationToken.None);
|
||||||
|
if (candidates.Count == 0) throw new InvalidOperationException("The isolated candidate scenario produced no candidate.");
|
||||||
|
LocalG2CandidateGeometry candidate = candidates[0];
|
||||||
|
PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, 0.25d, out SmoothingPoint2D start, out _);
|
||||||
|
PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, 0.75d, out SmoothingPoint2D end, out _);
|
||||||
|
return new CandidateTestSnapshot(candidates.Count,
|
||||||
|
Distance(start, candidate.RegionPoints[0]), Distance(end, candidate.RegionPoints[candidate.RegionPoints.Count - 1]),
|
||||||
|
Math.Abs(candidate.StartVehicleCurvaturePerMeter - 0d),
|
||||||
|
Math.Abs(candidate.EndVehicleCurvaturePerMeter - 0.4d),
|
||||||
|
ContainsLocalG2(candidate.RegionPoints), 0, false, string.Empty, false, false, false);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static CandidateTestSnapshot BuildCluster()
|
||||||
|
{
|
||||||
|
PreparedDirectionSegment segment = CreateSegment(TravelDirection.Forward, null);
|
||||||
|
var transitions = new[]
|
||||||
|
{
|
||||||
|
new CurvatureTransition(0, 1, 2, 0.4d, 0.4d, 0d, 0d, 0d, 0.4d),
|
||||||
|
new CurvatureTransition(0, 2, 3, 0.6d, 0.6d, 0d, 0d, 0.4d, 0d),
|
||||||
|
};
|
||||||
|
var planner = new LocalG2WindowPlanner();
|
||||||
|
if (!planner.TryPlan(new PreparedPath(new[] { segment }), transitions, CreateOptions(),
|
||||||
|
out IReadOnlyList<LocalG2SmoothingRegion> regions, out string reason))
|
||||||
|
{
|
||||||
|
throw new InvalidOperationException(reason);
|
||||||
|
}
|
||||||
|
IReadOnlyList<LocalG2CandidateGeometry> candidates = new LocalG2CandidateBuilder().Build(
|
||||||
|
segment, regions[0], 0.025d, CreateOptions(), CancellationToken.None);
|
||||||
|
if (candidates.Count == 0) throw new InvalidOperationException("The clustered candidate scenario produced no candidate.");
|
||||||
|
return new CandidateTestSnapshot(0, 0d, 0d, 0d, 0d, false, regions.Count,
|
||||||
|
candidates[0].InternalConnectionsAreG2, string.Empty, false, false, false);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static CandidateTestSnapshot BuildReverse()
|
||||||
|
{
|
||||||
|
PreparedDirectionSegment segment = CreateSegment(TravelDirection.Reverse, null);
|
||||||
|
LocalG2SmoothingRegion region = CreateRegion(new[]
|
||||||
|
{
|
||||||
|
new CurvatureTransition(0, 1, 2, 0.5d, 0.5d, 0d, Math.PI, 0.2d, 0.4d),
|
||||||
|
}, 0.25d, 0.75d);
|
||||||
|
IReadOnlyList<LocalG2CandidateGeometry> candidates = new LocalG2CandidateBuilder().Build(
|
||||||
|
segment, region, 0.025d, CreateOptions(), CancellationToken.None);
|
||||||
|
if (candidates.Count == 0) throw new InvalidOperationException("The reverse candidate scenario produced no candidate.");
|
||||||
|
LocalG2CandidateGeometry candidate = candidates[0];
|
||||||
|
bool opposite = candidate.StartVehicleCurvaturePerMeter * candidate.StartGeometricCurvaturePerMeter < 0d &&
|
||||||
|
candidate.EndVehicleCurvaturePerMeter * candidate.EndGeometricCurvaturePerMeter < 0d;
|
||||||
|
return new CandidateTestSnapshot(0, 0d, 0d, 0d, 0d, false, 0, false,
|
||||||
|
segment.Direction.ToString(), opposite, false, false);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static CandidateTestSnapshot BuildSpliced()
|
||||||
|
{
|
||||||
|
PreparedDirectionSegment segment = CreateSegment(TravelDirection.Forward, 0.17d);
|
||||||
|
LocalG2SmoothingRegion region = CreateRegion(new[]
|
||||||
|
{
|
||||||
|
new CurvatureTransition(0, 1, 2, 0.5d, 0.5d, 0d, 0d, 0.17d, 0.4d),
|
||||||
|
}, 0.25d, 0.75d);
|
||||||
|
IReadOnlyList<LocalG2CandidateGeometry> candidates = new LocalG2CandidateBuilder().Build(
|
||||||
|
segment, region, 0.025d, CreateOptions(), CancellationToken.None);
|
||||||
|
if (candidates.Count == 0) throw new InvalidOperationException("The splice candidate scenario produced no candidate.");
|
||||||
|
PreparedDirectionSegment untouched = CreateSegment(TravelDirection.Reverse, null);
|
||||||
|
var path = new PreparedPath(new[] { segment, untouched });
|
||||||
|
if (!new LocalG2PathSplicer().TryReplace(path, candidates[0], out PreparedPath replaced, out string reason))
|
||||||
|
throw new InvalidOperationException(reason);
|
||||||
|
PreparedDirectionSegment result = replaced.Segments[0];
|
||||||
|
bool noDuplicates = true;
|
||||||
|
for (int index = 1; index < result.Points.Count; index++)
|
||||||
|
{
|
||||||
|
if (!result.Points[index - 1].IsGearSwitchPoint && !result.Points[index].IsGearSwitchPoint &&
|
||||||
|
Distance(result.Points[index - 1], result.Points[index]) <= 1e-12d)
|
||||||
|
{
|
||||||
|
noDuplicates = false;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
bool monotonicallyIncreasing = true;
|
||||||
|
for (int index = 1; index < result.Points.Count; index++)
|
||||||
|
{
|
||||||
|
if (result.Points[index].ArcLength <= result.Points[index - 1].ArcLength)
|
||||||
|
{
|
||||||
|
monotonicallyIncreasing = false;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
bool endpoints = Distance(segment.Points[0], result.Points[0]) <= 1e-12d &&
|
||||||
|
Distance(segment.Points[segment.Points.Count - 1], result.Points[result.Points.Count - 1]) <= 1e-12d &&
|
||||||
|
result.StartVehicleCurvaturePerMeter == segment.StartVehicleCurvaturePerMeter && monotonicallyIncreasing &&
|
||||||
|
ReferenceEquals(untouched, replaced.Segments[1]);
|
||||||
|
return new CandidateTestSnapshot(0, 0d, 0d, 0d, 0d, false, 0, false, string.Empty,
|
||||||
|
false, noDuplicates, endpoints);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static CandidateTestSnapshot BuildStartBoundary()
|
||||||
|
{
|
||||||
|
PreparedDirectionSegment segment = CreateSegment(TravelDirection.Forward, 0.17d);
|
||||||
|
LocalG2SmoothingRegion region = CreateRegion(new[]
|
||||||
|
{
|
||||||
|
new CurvatureTransition(0, 0, 1, 0d, 0d, 0d, 0d, 0.17d, 0.4d),
|
||||||
|
}, 0d, 0.5d);
|
||||||
|
IReadOnlyList<LocalG2CandidateGeometry> candidates = new LocalG2CandidateBuilder().Build(
|
||||||
|
segment, region, 0.025d, CreateOptions(), CancellationToken.None);
|
||||||
|
if (candidates.Count == 0) throw new InvalidOperationException("The start-boundary transition must not create a zero-length left curve.");
|
||||||
|
LocalG2CandidateGeometry candidate = candidates[0];
|
||||||
|
return new CandidateTestSnapshot(candidates.Count,
|
||||||
|
Math.Abs(candidate.StartVehicleCurvaturePerMeter - 0.17d), 0d,
|
||||||
|
Math.Abs(candidate.StartVehicleCurvaturePerMeter - 0.17d), 0d,
|
||||||
|
ContainsLocalG2(candidate.RegionPoints), 0, false, string.Empty, false, false, false);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static PreparedDirectionSegment CreateSegment(TravelDirection direction, double? startCurvature)
|
||||||
|
{
|
||||||
|
double heading = direction == TravelDirection.Forward ? 0d : Math.PI;
|
||||||
|
var points = new List<SmoothingPoint2D>();
|
||||||
|
for (int index = 0; index <= 4; index++)
|
||||||
|
{
|
||||||
|
double arc = index * 0.25d;
|
||||||
|
points.Add(new SmoothingPoint2D(arc, 0d, arc, heading, heading, 1d, false, SmoothedPathPointSource.Anchor));
|
||||||
|
}
|
||||||
|
return new PreparedDirectionSegment(0, direction, points, false, false, startCurvature);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static LocalG2SmoothingRegion CreateRegion(
|
||||||
|
IReadOnlyList<CurvatureTransition> transitions,
|
||||||
|
double startArcLengthMeters,
|
||||||
|
double endArcLengthMeters)
|
||||||
|
{
|
||||||
|
return new LocalG2SmoothingRegion(0, transitions, startArcLengthMeters, endArcLengthMeters,
|
||||||
|
new[] { new LocalG2WindowVariant(0, startArcLengthMeters, endArcLengthMeters,
|
||||||
|
transitions[0].LocalArcLengthMeters - startArcLengthMeters,
|
||||||
|
endArcLengthMeters - transitions[transitions.Count - 1].LocalArcLengthMeters) });
|
||||||
|
}
|
||||||
|
|
||||||
|
private static LocalG2OptionsSnapshot CreateOptions() => new LocalG2OptionsSnapshot(new PathSmoothingConfiguration());
|
||||||
|
private static bool ContainsLocalG2(IReadOnlyList<SmoothingPoint2D> points)
|
||||||
|
{
|
||||||
|
for (int index = 0; index < points.Count; index++)
|
||||||
|
if (points[index].Source == SmoothedPathPointSource.LocalG2Transition) return true;
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
private static double Distance(SmoothingPoint2D left, SmoothingPoint2D right) =>
|
||||||
|
Math.Sqrt((right.X - left.X) * (right.X - left.X) + (right.Y - left.Y) * (right.Y - left.Y));
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,76 @@
|
|||||||
|
using System;
|
||||||
|
using System.Collections.Generic;
|
||||||
|
using System.Collections.ObjectModel;
|
||||||
|
using MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
|
||||||
|
using MultiWheelC.TrajectoryPlanning.Utils;
|
||||||
|
|
||||||
|
namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.LocalG2;
|
||||||
|
|
||||||
|
/// <summary>一个尚未经过安全和质量评价的局部 G2 替换几何。</summary>
|
||||||
|
internal sealed class LocalG2CandidateGeometry
|
||||||
|
{
|
||||||
|
internal LocalG2CandidateGeometry(
|
||||||
|
int candidateIndex,
|
||||||
|
int segmentIndex,
|
||||||
|
double startArcLengthMeters,
|
||||||
|
double endArcLengthMeters,
|
||||||
|
double leftWindowLengthMeters,
|
||||||
|
double rightWindowLengthMeters,
|
||||||
|
IReadOnlyList<SmoothingPoint2D> regionPoints,
|
||||||
|
double startVehicleCurvaturePerMeter,
|
||||||
|
double endVehicleCurvaturePerMeter,
|
||||||
|
double startGeometricCurvaturePerMeter,
|
||||||
|
double endGeometricCurvaturePerMeter,
|
||||||
|
bool internalConnectionsAreG2)
|
||||||
|
{
|
||||||
|
if (candidateIndex < 0 || segmentIndex < 0 || !NumericGuard.IsFinite(startArcLengthMeters) ||
|
||||||
|
!NumericGuard.IsFinite(endArcLengthMeters) || startArcLengthMeters < 0d ||
|
||||||
|
endArcLengthMeters < startArcLengthMeters || !NumericGuard.IsFinite(leftWindowLengthMeters) ||
|
||||||
|
!NumericGuard.IsFinite(rightWindowLengthMeters) || leftWindowLengthMeters < 0d ||
|
||||||
|
rightWindowLengthMeters < 0d || regionPoints == null || regionPoints.Count < 2 ||
|
||||||
|
!NumericGuard.IsFinite(startVehicleCurvaturePerMeter) || !NumericGuard.IsFinite(endVehicleCurvaturePerMeter) ||
|
||||||
|
!NumericGuard.IsFinite(startGeometricCurvaturePerMeter) || !NumericGuard.IsFinite(endGeometricCurvaturePerMeter))
|
||||||
|
{
|
||||||
|
throw new ArgumentOutOfRangeException(nameof(regionPoints));
|
||||||
|
}
|
||||||
|
|
||||||
|
CandidateIndex = candidateIndex;
|
||||||
|
SegmentIndex = segmentIndex;
|
||||||
|
StartArcLengthMeters = startArcLengthMeters;
|
||||||
|
EndArcLengthMeters = endArcLengthMeters;
|
||||||
|
LeftWindowLengthMeters = leftWindowLengthMeters;
|
||||||
|
RightWindowLengthMeters = rightWindowLengthMeters;
|
||||||
|
RegionPoints = Copy(regionPoints);
|
||||||
|
StartVehicleCurvaturePerMeter = startVehicleCurvaturePerMeter;
|
||||||
|
EndVehicleCurvaturePerMeter = endVehicleCurvaturePerMeter;
|
||||||
|
StartGeometricCurvaturePerMeter = startGeometricCurvaturePerMeter;
|
||||||
|
EndGeometricCurvaturePerMeter = endGeometricCurvaturePerMeter;
|
||||||
|
InternalConnectionsAreG2 = internalConnectionsAreG2;
|
||||||
|
}
|
||||||
|
|
||||||
|
internal int CandidateIndex { get; }
|
||||||
|
internal int SegmentIndex { get; }
|
||||||
|
internal double StartArcLengthMeters { get; }
|
||||||
|
internal double EndArcLengthMeters { get; }
|
||||||
|
internal double LeftWindowLengthMeters { get; }
|
||||||
|
internal double RightWindowLengthMeters { get; }
|
||||||
|
internal IReadOnlyList<SmoothingPoint2D> RegionPoints { get; }
|
||||||
|
|
||||||
|
// 这些边界状态供候选评价和窄范围反射验证使用，不能替代统一几何分析器的最终统计。
|
||||||
|
internal double StartVehicleCurvaturePerMeter { get; }
|
||||||
|
internal double EndVehicleCurvaturePerMeter { get; }
|
||||||
|
internal double StartGeometricCurvaturePerMeter { get; }
|
||||||
|
internal double EndGeometricCurvaturePerMeter { get; }
|
||||||
|
internal bool InternalConnectionsAreG2 { get; }
|
||||||
|
|
||||||
|
private static IReadOnlyList<SmoothingPoint2D> Copy(IReadOnlyList<SmoothingPoint2D> source)
|
||||||
|
{
|
||||||
|
var copy = new List<SmoothingPoint2D>(source.Count);
|
||||||
|
for (int index = 0; index < source.Count; index++)
|
||||||
|
{
|
||||||
|
if (source[index] == null) throw new ArgumentOutOfRangeException(nameof(source));
|
||||||
|
copy.Add(source[index]);
|
||||||
|
}
|
||||||
|
return new ReadOnlyCollection<SmoothingPoint2D>(copy);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,129 @@
|
|||||||
|
using System;
|
||||||
|
using System.Collections.Generic;
|
||||||
|
using MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
|
||||||
|
using MultiWheelC.TrajectoryPlanning.Utils;
|
||||||
|
|
||||||
|
namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.LocalG2;
|
||||||
|
|
||||||
|
/// <summary>只替换一个方向段内局部窗口，并保持其余方向拓扑不变。</summary>
|
||||||
|
internal sealed class LocalG2PathSplicer
|
||||||
|
{
|
||||||
|
internal bool TryReplace(
|
||||||
|
PreparedPath currentPath,
|
||||||
|
LocalG2CandidateGeometry candidate,
|
||||||
|
out PreparedPath replacedPath,
|
||||||
|
out string reason)
|
||||||
|
{
|
||||||
|
replacedPath = null;
|
||||||
|
reason = string.Empty;
|
||||||
|
if (currentPath == null || candidate == null || candidate.SegmentIndex < 0 ||
|
||||||
|
candidate.SegmentIndex >= currentPath.Segments.Count || candidate.RegionPoints == null ||
|
||||||
|
candidate.RegionPoints.Count < 2)
|
||||||
|
{
|
||||||
|
reason = "局部 G2 拼接输入无效。";
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
PreparedDirectionSegment source = currentPath.Segments[candidate.SegmentIndex];
|
||||||
|
if (source == null || source.SegmentIndex != candidate.SegmentIndex ||
|
||||||
|
!PathReferenceInterpolator.TryInterpolateByArcLength(source.Points, candidate.StartArcLengthMeters, out SmoothingPoint2D start, out reason) ||
|
||||||
|
!PathReferenceInterpolator.TryInterpolateByArcLength(source.Points, candidate.EndArcLengthMeters, out SmoothingPoint2D end, out reason) ||
|
||||||
|
!SamePosition(candidate.RegionPoints[0], start) || !SamePosition(candidate.RegionPoints[candidate.RegionPoints.Count - 1], end))
|
||||||
|
{
|
||||||
|
if (string.IsNullOrEmpty(reason)) reason = "局部 G2 候选端点不匹配原始窗口。";
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
var combined = new List<SmoothingPoint2D>();
|
||||||
|
for (int index = 0; index < source.Points.Count; index++)
|
||||||
|
{
|
||||||
|
SmoothingPoint2D point = source.Points[index];
|
||||||
|
if (point.ArcLength < candidate.StartArcLengthMeters) AddWithoutNonGearDuplicates(combined, point);
|
||||||
|
}
|
||||||
|
for (int index = 0; index < candidate.RegionPoints.Count; index++) AddWithoutNonGearDuplicates(combined, candidate.RegionPoints[index]);
|
||||||
|
for (int index = 0; index < source.Points.Count; index++)
|
||||||
|
{
|
||||||
|
SmoothingPoint2D point = source.Points[index];
|
||||||
|
if (point.ArcLength > candidate.EndArcLengthMeters) AddWithoutNonGearDuplicates(combined, point);
|
||||||
|
}
|
||||||
|
if (!TryRecalculateArcLengths(combined, out IReadOnlyList<SmoothingPoint2D> localPoints, out reason)) return false;
|
||||||
|
|
||||||
|
var segments = new List<PreparedDirectionSegment>(currentPath.Segments.Count);
|
||||||
|
for (int index = 0; index < currentPath.Segments.Count; index++)
|
||||||
|
{
|
||||||
|
PreparedDirectionSegment segment = currentPath.Segments[index];
|
||||||
|
if (index != candidate.SegmentIndex)
|
||||||
|
{
|
||||||
|
segments.Add(segment);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
segments.Add(new PreparedDirectionSegment(segment.SegmentIndex, segment.Direction, localPoints,
|
||||||
|
segment.StartsAtGearSwitch, segment.EndsAtGearSwitch, segment.StartVehicleCurvaturePerMeter));
|
||||||
|
}
|
||||||
|
replacedPath = new PreparedPath(segments);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
private static bool TryRecalculateArcLengths(
|
||||||
|
IReadOnlyList<SmoothingPoint2D> points,
|
||||||
|
out IReadOnlyList<SmoothingPoint2D> recalculated,
|
||||||
|
out string reason)
|
||||||
|
{
|
||||||
|
recalculated = null;
|
||||||
|
reason = string.Empty;
|
||||||
|
if (points == null || points.Count < 2)
|
||||||
|
{
|
||||||
|
reason = "局部 G2 拼接后方向段没有足够点。";
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
var output = new List<SmoothingPoint2D>(points.Count);
|
||||||
|
double arcLength = 0d;
|
||||||
|
for (int index = 0; index < points.Count; index++)
|
||||||
|
{
|
||||||
|
SmoothingPoint2D point = points[index];
|
||||||
|
if (!IsValid(point))
|
||||||
|
{
|
||||||
|
reason = "局部 G2 拼接点包含非法数值。";
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
if (index > 0)
|
||||||
|
{
|
||||||
|
double distance = Distance(points[index - 1], point);
|
||||||
|
if (!NumericGuard.IsPositiveFinite(distance))
|
||||||
|
{
|
||||||
|
reason = "局部 G2 拼接后存在重复非换向点。";
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
arcLength += distance;
|
||||||
|
}
|
||||||
|
output.Add(new SmoothingPoint2D(point.X, point.Y, arcLength, point.Heading, point.UnwrappedHeading,
|
||||||
|
point.BodyClearance, point.IsGearSwitchPoint, point.Source));
|
||||||
|
}
|
||||||
|
recalculated = output;
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void AddWithoutNonGearDuplicates(List<SmoothingPoint2D> output, SmoothingPoint2D point)
|
||||||
|
{
|
||||||
|
if (output.Count == 0)
|
||||||
|
{
|
||||||
|
output.Add(point);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
SmoothingPoint2D previous = output[output.Count - 1];
|
||||||
|
if (!previous.IsGearSwitchPoint && !point.IsGearSwitchPoint && SamePosition(previous, point)) return;
|
||||||
|
output.Add(point);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static bool IsValid(SmoothingPoint2D point) => point != null && NumericGuard.IsFinite(point.X) &&
|
||||||
|
NumericGuard.IsFinite(point.Y) && NumericGuard.IsFinite(point.Heading) && NumericGuard.IsFinite(point.UnwrappedHeading) &&
|
||||||
|
NumericGuard.IsFinite(point.BodyClearance) && point.BodyClearance >= 0d;
|
||||||
|
private static bool SamePosition(SmoothingPoint2D left, SmoothingPoint2D right) =>
|
||||||
|
left != null && right != null && Distance(left, right) <= 1e-9d;
|
||||||
|
private static double Distance(SmoothingPoint2D left, SmoothingPoint2D right)
|
||||||
|
{
|
||||||
|
double dx = right.X - left.X;
|
||||||
|
double dy = right.Y - left.Y;
|
||||||
|
return Math.Sqrt(dx * dx + dy * dy);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,61 @@
|
|||||||
|
param([string]$AssemblyPath = (Join-Path $PSScriptRoot '..\bin\Debug\netstandard2.0\ClumsyPilot.dll'))
|
||||||
|
|
||||||
|
$ErrorActionPreference = 'Stop'
|
||||||
|
$assembly = [Reflection.Assembly]::LoadFrom((Resolve-Path $AssemblyPath))
|
||||||
|
|
||||||
|
function Assert-True($Actual, [string]$Message) {
|
||||||
|
if (-not $Actual) { throw $Message }
|
||||||
|
}
|
||||||
|
|
||||||
|
function Assert-Equal($Expected, $Actual, [string]$Message) {
|
||||||
|
if ($Expected -ne $Actual) { throw "$Message Expected=$Expected Actual=$Actual" }
|
||||||
|
}
|
||||||
|
|
||||||
|
function Assert-Near([double]$Expected, [double]$Actual, [double]$Tolerance, [string]$Message) {
|
||||||
|
if ([Math]::Abs($Expected - $Actual) -gt $Tolerance) {
|
||||||
|
throw "$Message Expected=$Expected Actual=$Actual Tolerance=$Tolerance"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
function Get-RequiredType([string]$Name) {
|
||||||
|
return $assembly.GetType($Name, $true)
|
||||||
|
}
|
||||||
|
|
||||||
|
$builderType = Get-RequiredType 'MultiWheelC.TrajectoryPlanning.PathSmoothing.LocalG2.LocalG2CandidateBuilder'
|
||||||
|
$hooksType = $builderType.GetNestedType('TestHooks', [Reflection.BindingFlags]'Public,NonPublic')
|
||||||
|
Assert-True ($null -ne $hooksType) 'LocalG2CandidateBuilder must expose narrowly scoped deterministic TestHooks.'
|
||||||
|
$executeMethod = $hooksType.GetMethod('Execute', [Reflection.BindingFlags]'Public,Static')
|
||||||
|
Assert-True ($null -ne $executeMethod) 'TestHooks must execute deterministic candidate scenarios.'
|
||||||
|
|
||||||
|
function Invoke-Scenario([string]$Scenario) {
|
||||||
|
return $executeMethod.Invoke($null, @($Scenario))
|
||||||
|
}
|
||||||
|
|
||||||
|
$isolated = Invoke-Scenario 'Isolated'
|
||||||
|
Assert-True ($isolated.CandidateCount -gt 0 -and $isolated.CandidateCount -le 12) `
|
||||||
|
'An isolated event must produce a bounded non-empty candidate set.'
|
||||||
|
Assert-Near 0.0 $isolated.StartPositionError 1e-9 'Window start position must match.'
|
||||||
|
Assert-Near 0.0 $isolated.EndPositionError 1e-9 'Window end position must match.'
|
||||||
|
Assert-Near 0.0 $isolated.StartCurvatureError 1e-8 'Window start curvature must match.'
|
||||||
|
Assert-Near 0.0 $isolated.EndCurvatureError 1e-8 'Window end curvature must match.'
|
||||||
|
Assert-True $isolated.ContainsLocalG2Source 'Generated samples must identify their source.'
|
||||||
|
|
||||||
|
$cluster = Invoke-Scenario 'Cluster'
|
||||||
|
Assert-Equal 1 $cluster.OutputRegionCount 'Overlapping events must be built as one region.'
|
||||||
|
Assert-True $cluster.InternalConnectionsAreG2 'Internal anchors must share tangent and curvature.'
|
||||||
|
|
||||||
|
$reverse = Invoke-Scenario 'Reverse'
|
||||||
|
Assert-Equal 'Reverse' $reverse.Direction 'Reverse candidates must preserve segment direction.'
|
||||||
|
Assert-True $reverse.VehicleAndGeometricCurvatureSignsAreOpposite `
|
||||||
|
'Reverse candidates must convert vehicle curvature to geometric curvature exactly once.'
|
||||||
|
|
||||||
|
$spliced = Invoke-Scenario 'Spliced'
|
||||||
|
Assert-True $spliced.NoDuplicateNonGearPoints 'Splicing must remove duplicate boundary samples.'
|
||||||
|
Assert-True $spliced.EndpointsUnchanged 'Splicing must preserve the complete segment endpoints.'
|
||||||
|
|
||||||
|
$startBoundary = Invoke-Scenario 'StartBoundary'
|
||||||
|
Assert-True ($startBoundary.CandidateCount -gt 0) 'A start-boundary event must build a one-sided candidate.'
|
||||||
|
Assert-Near 0.0 $startBoundary.StartCurvatureError 1e-8 `
|
||||||
|
'A start-boundary candidate must use the preserved physical start vehicle curvature.'
|
||||||
|
|
||||||
|
Write-Output 'Path smoothing Local G2 candidate checks passed.'
|
||||||
Reference in New Issue
Block a user