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 +1,83 @@
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
+
+/// <summary>单个局部 G2 平滑区域的不可变发布报告。</summary>
+public sealed class PathSmoothingRegionReport
+{
+    public PathSmoothingRegionReport(
+        int segmentIndex,
+        double startArcLengthMeters,
+        double endArcLengthMeters,
+        IReadOnlyList<double> curvatureJumpsPerMeter,
+        double plannedWindowLengthMeters,
+        double actualWindowLengthMeters,
+        double leftWindowLengthMeters,
+        double rightWindowLengthMeters,
+        int candidateCount,
+        int selectedCandidateIndex,
+        PathSmoothingRegionStatus status,
+        PathSmoothingRegionFailureReason failureReason,
+        double rawPeakCurvatureDerivativePerSquareMeter,
+        double resultPeakCurvatureDerivativePerSquareMeter,
+        double rawCurvatureVariationCost,
+        double resultCurvatureVariationCost,
+        double maximumDeviationMeters,
+        double minimumBodyClearanceMeters,
+        double maximumAbsoluteVehicleCurvaturePerMeter)
+    {
+        SegmentIndex = segmentIndex;
+        StartArcLengthMeters = startArcLengthMeters;
+        EndArcLengthMeters = endArcLengthMeters;
+        CurvatureJumpsPerMeter = CopyReadOnly(curvatureJumpsPerMeter);
+        PlannedWindowLengthMeters = plannedWindowLengthMeters;
+        ActualWindowLengthMeters = actualWindowLengthMeters;
+        LeftWindowLengthMeters = leftWindowLengthMeters;
+        RightWindowLengthMeters = rightWindowLengthMeters;
+        CandidateCount = candidateCount;
+        SelectedCandidateIndex = status == PathSmoothingRegionStatus.Improved
+            ? selectedCandidateIndex
+            : -1;
+        Status = status;
+        FailureReason = failureReason;
+        RawPeakCurvatureDerivativePerSquareMeter = rawPeakCurvatureDerivativePerSquareMeter;
+        ResultPeakCurvatureDerivativePerSquareMeter = resultPeakCurvatureDerivativePerSquareMeter;
+        RawCurvatureVariationCost = rawCurvatureVariationCost;
+        ResultCurvatureVariationCost = resultCurvatureVariationCost;
+        MaximumDeviationMeters = maximumDeviationMeters;
+        MinimumBodyClearanceMeters = minimumBodyClearanceMeters;
+        MaximumAbsoluteVehicleCurvaturePerMeter = maximumAbsoluteVehicleCurvaturePerMeter;
+    }
+
+    public int SegmentIndex { get; }
+    public double StartArcLengthMeters { get; }
+    public double EndArcLengthMeters { get; }
+    public IReadOnlyList<double> CurvatureJumpsPerMeter { get; }
+    public double PlannedWindowLengthMeters { get; }
+    public double ActualWindowLengthMeters { get; }
+    public double LeftWindowLengthMeters { get; }
+    public double RightWindowLengthMeters { get; }
+    public int CandidateCount { get; }
+    public int SelectedCandidateIndex { get; }
+    public PathSmoothingRegionStatus Status { get; }
+    public PathSmoothingRegionFailureReason FailureReason { get; }
+    public double RawPeakCurvatureDerivativePerSquareMeter { get; }
+    public double ResultPeakCurvatureDerivativePerSquareMeter { get; }
+    public double RawCurvatureVariationCost { get; }
+    public double ResultCurvatureVariationCost { get; }
+    public double MaximumDeviationMeters { get; }
+    public double MinimumBodyClearanceMeters { get; }
+    public double MaximumAbsoluteVehicleCurvaturePerMeter { get; }
+
+    private static IReadOnlyList<double> CopyReadOnly(IReadOnlyList<double> source)
+    {
+        var copy = new List<double>(source == null ? 0 : source.Count);
+        if (source != null)
+        {
+            for (int index = 0; index < source.Count; index++)
+                copy.Add(source[index]);
+        }
+        return new ReadOnlyCollection<double>(copy);
+    }
+}