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 +1,60 @@
+using System;
+using System.Collections.Generic;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Comparison;
+
+/// <summary>按公开字典序选择唯一的推荐平滑方法。</summary>
+public static class SmoothingMethodRanker
+{
+    /// <summary>从当前场景的可行且确定性候选中选择最佳方法；没有合格候选时返回空。</summary>
+    public static SmoothingMethod? Rank(IReadOnlyList<PathSmoothingComparisonEntry> entries)
+    {
+        PathSmoothingComparisonEntry best = null;
+        if (entries == null) return null;
+
+        for (int index = 0; index < entries.Count; index++)
+        {
+            PathSmoothingComparisonEntry candidate = entries[index];
+            if (candidate == null || !candidate.IsEligibleForRecommendation) continue;
+            if (best == null || Compare(candidate, best) < 0) best = candidate;
+        }
+        return best == null ? (SmoothingMethod?)null : best.Method;
+    }
+
+    private static int Compare(PathSmoothingComparisonEntry left, PathSmoothingComparisonEntry right)
+    {
+        int comparison = CompareAscending(left.Metrics.CurvatureVariationEnergy, right.Metrics.CurvatureVariationEnergy);
+        if (comparison != 0) return comparison;
+
+        comparison = CompareAscending(
+            left.Metrics.MaximumAbsoluteVehicleCurvaturePerMeter,
+            right.Metrics.MaximumAbsoluteVehicleCurvaturePerMeter);
+        if (comparison != 0) return comparison;
+
+        comparison = CompareDescending(left.Metrics.MinimumBodyClearanceMeters, right.Metrics.MinimumBodyClearanceMeters);
+        if (comparison != 0) return comparison;
+
+        comparison = CompareAscending(left.Metrics.LengthChangePercent, right.Metrics.LengthChangePercent);
+        if (comparison != 0) return comparison;
+
+        comparison = CompareAscending(left.Timing.MedianElapsedMilliseconds, right.Timing.MedianElapsedMilliseconds);
+        if (comparison != 0) return comparison;
+
+        return ((int)left.Method.Value).CompareTo((int)right.Method.Value);
+    }
+
+    private static int CompareAscending(double left, double right)
+    {
+        return Normalize(left).CompareTo(Normalize(right));
+    }
+
+    private static int CompareDescending(double left, double right)
+    {
+        return Normalize(right).CompareTo(Normalize(left));
+    }
+
+    private static double Normalize(double value)
+    {
+        return double.IsNaN(value) || double.IsInfinity(value) ? double.PositiveInfinity : value;
+    }
+}