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 +1,65 @@
+using System;
+
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>一次规划的只读统计与终止说明；长度和净空单位为 m。</summary>
+public sealed class PlanningDiagnostics
+{
+    /// <summary>
+    /// 创建规划统计快照。
+    /// 参数中的节点数量均为非负计数；pathLengthMeters 和 minimumBodyClearanceMeters 单位为 m；elapsed 为总耗时；pathSearchElapsed 为地图和起终点预检通过后的路径产出耗时；terminationReason 为可读终止说明，可为 null。
+    /// </summary>
+    public PlanningDiagnostics(
+        int expandedNodeCount = 0,
+        int generatedNodeCount = 0,
+        int reopenedNodeCount = 0,
+        int staleOpenListEntryCount = 0,
+        int peakOpenListCount = 0,
+        double pathLengthMeters = 0d,
+        double minimumBodyClearanceMeters = 0d,
+        TimeSpan elapsed = default(TimeSpan),
+        string terminationReason = null,
+        TimeSpan pathSearchElapsed = default(TimeSpan))
+    {
+        ExpandedNodeCount = expandedNodeCount;
+        GeneratedNodeCount = generatedNodeCount;
+        ReopenedNodeCount = reopenedNodeCount;
+        StaleOpenListEntryCount = staleOpenListEntryCount;
+        PeakOpenListCount = peakOpenListCount;
+        PathLengthMeters = pathLengthMeters;
+        MinimumBodyClearanceMeters = minimumBodyClearanceMeters;
+        Elapsed = elapsed;
+        PathSearchElapsed = pathSearchElapsed;
+        TerminationReason = terminationReason ?? string.Empty;
+    }
+
+    /// <summary>从 Open List 取出并真正扩展的节点数量。</summary>
+    public int ExpandedNodeCount { get; }
+
+    /// <summary>生成并尝试加入搜索状态的节点数量。</summary>
+    public int GeneratedNodeCount { get; }
+
+    /// <summary>以严格更小代价到达同一离散键而重新打开的节点数量。</summary>
+    public int ReopenedNodeCount { get; }
+
+    /// <summary>从 Open List 取出后因已有更优条目而丢弃的陈旧堆条目数量。</summary>
+    public int StaleOpenListEntryCount { get; }
+
+    /// <summary>搜索期间 Open List 同时容纳的最大有效或待丢弃条目数量。</summary>
+    public int PeakOpenListCount { get; }
+
+    /// <summary>成功路径的累计弧长，单位 m；失败结果通常为 0。</summary>
+    public double PathLengthMeters { get; }
+
+    /// <summary>成功路径所有点中车体保守净空下界的最小值，单位 m；失败结果通常为 0。</summary>
+    public double MinimumBodyClearanceMeters { get; }
+
+    /// <summary>从规划入口到返回结果的总耗时。</summary>
+    public TimeSpan Elapsed { get; }
+
+    /// <summary>地图和起终点预检通过后，二维启发式、Hybrid A*、回溯、装配和最终复核的耗时；不含建图，搜索前失败时为零。</summary>
+    public TimeSpan PathSearchElapsed { get; }
+
+    /// <summary>面向调用方的终止原因；成功时可为空字符串。</summary>
+    public string TerminationReason { get; }
+}