chore: save current workspace progress

2026-08-09 22:13:18 +08:00
parent 650c2ab0e3
commit 2f4fd15e52
449 changed files with 76593 additions and 971 deletions
@@ -0,0 +1,63 @@
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>最终粗路径上的一个稠密连续点；长度、净空和位置使用 m，航向使用 rad，曲率使用 1/m。</summary>
+public sealed class CoarsePathPoint
+{
+    /// <summary>
+    /// 创建粗路径点。
+    /// 参数：xMeters、yMeters 为世界坐标 m；headingRadians 与 unwrappedHeadingRadians 为航向 rad；arcLengthMeters 和 bodyClearanceMeters 为 m；vehicleCurvaturePerMeter 为 1/m。
+    /// </summary>
+    public CoarsePathPoint(
+        double xMeters,
+        double yMeters,
+        double headingRadians,
+        double unwrappedHeadingRadians,
+        double arcLengthMeters,
+        TravelDirection direction,
+        double vehicleCurvaturePerMeter,
+        double bodyClearanceMeters,
+        bool isGearSwitchPoint,
+        CoarsePathPointSource source)
+    {
+        X = xMeters;
+        Y = yMeters;
+        Heading = headingRadians;
+        UnwrappedHeading = unwrappedHeadingRadians;
+        ArcLength = arcLengthMeters;
+        Direction = direction;
+        VehicleCurvature = vehicleCurvaturePerMeter;
+        BodyClearance = bodyClearanceMeters;
+        IsGearSwitchPoint = isGearSwitchPoint;
+        Source = source;
+    }
+
+    /// <summary>世界 X 坐标，单位 m。</summary>
+    public double X { get; }
+
+    /// <summary>世界 Y 坐标，单位 m。</summary>
+    public double Y { get; }
+
+    /// <summary>归一化后可用于几何查询的车头航向，单位 rad。</summary>
+    public double Heading { get; }
+
+    /// <summary>跨越 ±π 后仍连续的车头航向，单位 rad。</summary>
+    public double UnwrappedHeading { get; }
+
+    /// <summary>从路径起点累计的弧长，单位 m；必须非负且不递减。</summary>
+    public double ArcLength { get; }
+
+    /// <summary>从上一点运动到当前点所在方向段的行驶方向。</summary>
+    public TravelDirection Direction { get; }
+
+    /// <summary>车辆在此点采用的恒曲率原语曲率，单位 1/m。</summary>
+    public double VehicleCurvature { get; }
+
+    /// <summary>扩大车体到障碍物的保守净空下界，单位 m。</summary>
+    public double BodyClearance { get; }
+
+    /// <summary>此点是否为新方向段开始的换向点。</summary>
+    public bool IsGearSwitchPoint { get; }
+
+    /// <summary>此点由起点、普通原语或终点截断产生的来源。</summary>
+    public CoarsePathPointSource Source { get; }
+}