feat: integrate trajectory tracking controller runtime
This commit is contained in:
梁薄云
@@ -0,0 +1 @@
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// 兼容现有 MDCS 的 AbstractTrack
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@@ -0,0 +1,260 @@
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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.Linq;
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using MyParking.Shared;
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namespace MultiWheelC.Trajectory
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{
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/// <summary>
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/// 保存一条经过基本合法性检查的只读二维参考轨迹。
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/// </summary>
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public sealed class Trajectory2D
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{
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private const double StartArcLengthToleranceMeters = 1e-9;
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private const double MinimumSegmentLengthMeters = 1e-6;
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private readonly TrajectoryPoint[] _points;
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private readonly ReadOnlyCollection<TrajectoryPoint> _readOnlyPoints;
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/// <summary>
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/// 复制并验证按累计弧长升序排列的参考轨迹点。
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/// </summary>
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public Trajectory2D(
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IEnumerable<TrajectoryPoint> points)
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{
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if (points == null)
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{
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throw new ArgumentNullException(
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nameof(points));
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}
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_points = points.ToArray();
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if (_points.Length < 2)
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{
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throw new ArgumentException(
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"二维轨迹至少需要两个轨迹点。",
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nameof(points));
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}
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if (Math.Abs(_points[0].ArcLengthMeters) >
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StartArcLengthToleranceMeters)
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{
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throw new ArgumentException(
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"二维轨迹起点的累计弧长必须为0m。",
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nameof(points));
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}
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for (var index = 1;
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index < _points.Length;
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index++)
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{
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ValidateSegment(
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_points[index - 1],
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_points[index],
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index,
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nameof(points));
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}
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_readOnlyPoints =
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Array.AsReadOnly(_points);
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}
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/// <summary>
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/// 获取轨迹点数量。
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/// </summary>
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public int Count => _points.Length;
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/// <summary>
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/// 获取指定索引处的轨迹点。
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/// </summary>
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public TrajectoryPoint this[int index] =>
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_points[index];
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/// <summary>
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/// 获取不可修改的有序轨迹点集合。
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/// </summary>
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public IReadOnlyList<TrajectoryPoint> Points =>
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_readOnlyPoints;
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/// <summary>
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/// 获取轨迹起点。
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/// </summary>
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public TrajectoryPoint StartPoint =>
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_points[0];
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/// <summary>
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/// 获取轨迹终点。
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/// </summary>
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public TrajectoryPoint EndPoint =>
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_points[_points.Length - 1];
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/// <summary>
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/// 获取轨迹总弧长，单位为m。
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/// </summary>
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public double TotalLengthMeters =>
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EndPoint.ArcLengthMeters;
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/// <summary>
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/// 根据当前累计弧长计算到轨迹终点的剩余距离。
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/// </summary>
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public double GetRemainingDistanceMeters(
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double arcLengthMeters)
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{
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EnsureFinite(
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arcLengthMeters,
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nameof(arcLengthMeters));
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if (arcLengthMeters <= 0.0)
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return TotalLengthMeters;
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if (arcLengthMeters >= TotalLengthMeters)
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return 0.0;
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return TotalLengthMeters - arcLengthMeters;
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}
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/// <summary>
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/// 按累计弧长在线性位置、航向、曲率和参考速度之间插值得到轨迹点。
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/// </summary>
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public TrajectoryPoint SampleAtArcLength(
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double arcLengthMeters)
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{
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EnsureFinite(
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arcLengthMeters,
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nameof(arcLengthMeters));
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if (arcLengthMeters <= 0.0)
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{
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return StartPoint;
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}
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if (arcLengthMeters >= TotalLengthMeters)
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{
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return EndPoint;
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}
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var segmentStartIndex =
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FindSegmentStartIndex(
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arcLengthMeters);
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var segmentStart =
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_points[segmentStartIndex];
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var segmentEnd =
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_points[segmentStartIndex + 1];
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var interpolationRatio =
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(arcLengthMeters -
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segmentStart.ArcLengthMeters) /
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(segmentEnd.ArcLengthMeters -
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segmentStart.ArcLengthMeters);
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return new TrajectoryPoint(
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arcLengthMeters,
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new Pose2D(
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InterpolationMath.Lerp(
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segmentStart.PoseInWorld.XMeters,
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segmentEnd.PoseInWorld.XMeters,
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interpolationRatio),
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InterpolationMath.Lerp(
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segmentStart.PoseInWorld.YMeters,
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segmentEnd.PoseInWorld.YMeters,
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interpolationRatio),
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AngleMath.LerpRadians(
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segmentStart.PoseInWorld.YawRadians,
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segmentEnd.PoseInWorld.YawRadians,
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interpolationRatio)),
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InterpolationMath.Lerp(
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segmentStart.CurvaturePerMeter,
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segmentEnd.CurvaturePerMeter,
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interpolationRatio),
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InterpolationMath.Lerp(
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segmentStart.ReferenceSpeedMetersPerSecond,
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segmentEnd.ReferenceSpeedMetersPerSecond,
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interpolationRatio));
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}
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/// <summary>
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/// 使用二分查找获取包含指定累计弧长的线段起点索引。
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/// </summary>
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private int FindSegmentStartIndex(
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double arcLengthMeters)
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{
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var lowerIndex = 0;
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var upperIndex = _points.Length - 1;
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while (upperIndex - lowerIndex > 1)
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{
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var middleIndex =
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lowerIndex +
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(upperIndex - lowerIndex) / 2;
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if (_points[middleIndex].ArcLengthMeters <=
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arcLengthMeters)
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{
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lowerIndex = middleIndex;
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}
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else
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{
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upperIndex = middleIndex;
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}
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}
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return lowerIndex;
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}
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/// <summary>
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/// 检查相邻轨迹点是否构成有效的非零长度有序线段。
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/// </summary>
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private static void ValidateSegment(
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TrajectoryPoint previous,
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TrajectoryPoint current,
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int currentIndex,
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string parameterName)
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{
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if (current.ArcLengthMeters <=
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previous.ArcLengthMeters)
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{
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throw new ArgumentException(
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$"轨迹点{currentIndex}的累计弧长必须严格大于前一个点。",
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parameterName);
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}
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var deltaX =
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current.PoseInWorld.XMeters -
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previous.PoseInWorld.XMeters;
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var deltaY =
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current.PoseInWorld.YMeters -
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previous.PoseInWorld.YMeters;
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var segmentLengthSquared =
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deltaX * deltaX +
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deltaY * deltaY;
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var minimumLengthSquared =
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MinimumSegmentLengthMeters *
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MinimumSegmentLengthMeters;
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if (segmentLengthSquared <
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minimumLengthSquared)
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{
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throw new ArgumentException(
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$"轨迹点{currentIndex}与前一个点的位置过近，无法构成有效投影线段。",
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parameterName);
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}
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}
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/// <summary>
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/// 检查数值是否为有限值。
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/// </summary>
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private static void EnsureFinite(
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double value,
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string parameterName)
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{
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if (double.IsNaN(value) ||
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double.IsInfinity(value))
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{
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throw new ArgumentOutOfRangeException(
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parameterName,
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"轨迹弧长必须是有限值。");
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}
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}
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}
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}
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@@ -0,0 +1,102 @@
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using System;
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using MyParking.Shared;
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namespace MultiWheelC.Trajectory
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{
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/// <summary>
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/// 描述按弧长参数化的车体中心参考轨迹点，统一使用SI单位。
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/// </summary>
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public readonly struct TrajectoryPoint
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{
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/// <summary>
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/// 创建包含中心位姿、曲率和速度信息的参考轨迹点。
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/// </summary>
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public TrajectoryPoint(
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double arcLengthMeters,
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Pose2D poseInWorld,
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double curvaturePerMeter,
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double referenceSpeedMetersPerSecond)
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{
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EnsureFiniteNonNegative(
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arcLengthMeters,
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nameof(arcLengthMeters));
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EnsureFinite(
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poseInWorld.XMeters,
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nameof(poseInWorld));
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EnsureFinite(
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poseInWorld.YMeters,
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nameof(poseInWorld));
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EnsureFinite(
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poseInWorld.YawRadians,
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nameof(poseInWorld));
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EnsureFinite(
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curvaturePerMeter,
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nameof(curvaturePerMeter));
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EnsureFinite(
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referenceSpeedMetersPerSecond,
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nameof(referenceSpeedMetersPerSecond));
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ArcLengthMeters = arcLengthMeters;
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PoseInWorld = new Pose2D(
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poseInWorld.XMeters,
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poseInWorld.YMeters,
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AngleMath.NormalizeRadians(
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poseInWorld.YawRadians));
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CurvaturePerMeter = curvaturePerMeter;
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ReferenceSpeedMetersPerSecond =
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referenceSpeedMetersPerSecond;
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}
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/// <summary>
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/// 获取从轨迹起点累计到当前点的弧长，单位为m。
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/// </summary>
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public double ArcLengthMeters { get; }
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/// <summary>
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/// 获取车体中心参考坐标系在世界坐标系中的位姿。
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/// </summary>
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public Pose2D PoseInWorld { get; }
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/// <summary>
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/// 获取车体中心参考轨迹曲率，单位为1/m，左转为正。
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/// </summary>
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public double CurvaturePerMeter { get; }
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/// <summary>
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/// 获取沿轨迹切线方向的有符号参考速度，单位为m/s。
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/// </summary>
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public double ReferenceSpeedMetersPerSecond { get; }
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/// <summary>
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/// 检查数值是否为有限值。
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/// </summary>
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private static void EnsureFinite(
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double value,
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string parameterName)
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{
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if (double.IsNaN(value) ||
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double.IsInfinity(value))
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{
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throw new ArgumentOutOfRangeException(
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parameterName,
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"轨迹点参数必须是有限值。");
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}
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}
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/// <summary>
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/// 检查数值是否为非负有限值。
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/// </summary>
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private static void EnsureFiniteNonNegative(
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double value,
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string parameterName)
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{
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EnsureFinite(value, parameterName);
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if (value < 0.0)
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{
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throw new ArgumentOutOfRangeException(
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parameterName,
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"轨迹累计弧长不能为负数。");
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}
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}
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}
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}
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@@ -0,0 +1,123 @@
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using System;
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using MyParking.Shared;
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namespace MultiWheelC.Trajectory
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{
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/// <summary>
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/// 保存车体中心投影到二维参考轨迹后得到的只读结果。
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/// </summary>
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public readonly struct TrajectoryProjection
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{
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/// <summary>
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/// 创建包含轨迹进度、参考状态和跟踪误差的投影结果。
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/// </summary>
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public TrajectoryProjection(
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int segmentStartIndex,
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TrajectoryPoint referencePoint,
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double lateralErrorMeters,
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double headingErrorRadians,
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double distanceToTrajectoryMeters,
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double remainingDistanceMeters)
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{
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if (segmentStartIndex < 0)
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{
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throw new ArgumentOutOfRangeException(
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nameof(segmentStartIndex),
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"投影线段起点索引不能为负数。");
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}
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EnsureFinite(
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lateralErrorMeters,
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nameof(lateralErrorMeters));
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EnsureFinite(
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headingErrorRadians,
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nameof(headingErrorRadians));
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EnsureFiniteNonNegative(
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distanceToTrajectoryMeters,
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nameof(distanceToTrajectoryMeters));
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EnsureFiniteNonNegative(
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remainingDistanceMeters,
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nameof(remainingDistanceMeters));
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SegmentStartIndex = segmentStartIndex;
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ReferencePoint = referencePoint;
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LateralErrorMeters = lateralErrorMeters;
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HeadingErrorRadians =
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AngleMath.NormalizeRadians(
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headingErrorRadians);
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DistanceToTrajectoryMeters =
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distanceToTrajectoryMeters;
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RemainingDistanceMeters =
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remainingDistanceMeters;
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}
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/// <summary>
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/// 获取投影所在轨迹线段的起点索引，线段终点索引为该值加1。
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/// </summary>
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public int SegmentStartIndex { get; }
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/// <summary>
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/// 获取投影位置插值得到的车体中心参考轨迹点。
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/// </summary>
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public TrajectoryPoint ReferencePoint { get; }
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/// <summary>
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/// 获取有符号横向误差，单位为m，参考轨迹位于车辆左侧时为正。
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/// </summary>
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public double LateralErrorMeters { get; }
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/// <summary>
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/// 获取参考航向减实际车体航向的最短角差，单位为rad，逆时针为正。
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/// </summary>
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public double HeadingErrorRadians { get; }
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/// <summary>
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/// 获取车体中心到投影点的欧氏距离，单位为m。
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/// </summary>
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public double DistanceToTrajectoryMeters { get; }
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/// <summary>
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/// 获取投影位置沿轨迹到终点的剩余弧长，单位为m。
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/// </summary>
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public double RemainingDistanceMeters { get; }
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/// <summary>
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/// 获取投影位置从轨迹起点累计的弧长，单位为m。
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/// </summary>
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public double ArcLengthMeters =>
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ReferencePoint.ArcLengthMeters;
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|
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/// <summary>
|
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/// 检查数值是否为有限值。
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/// </summary>
|
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private static void EnsureFinite(
|
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double value,
|
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string parameterName)
|
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{
|
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if (double.IsNaN(value) ||
|
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double.IsInfinity(value))
|
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{
|
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throw new ArgumentOutOfRangeException(
|
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parameterName,
|
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"轨迹投影参数必须是有限值。");
|
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}
|
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}
|
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|
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/// <summary>
|
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/// 检查数值是否为非负有限值。
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/// </summary>
|
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private static void EnsureFiniteNonNegative(
|
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double value,
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string parameterName)
|
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{
|
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EnsureFinite(value, parameterName);
|
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|
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if (value < 0.0)
|
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{
|
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throw new ArgumentOutOfRangeException(
|
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parameterName,
|
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"轨迹投影距离不能为负数。");
|
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}
|
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}
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}
|
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}
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@@ -0,0 +1,219 @@
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using System;
|
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using MyParking.Shared;
|
||||
|
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namespace MultiWheelC.Trajectory
|
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{
|
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/// <summary>
|
||||
/// 将Detour给出的实际车体中心位姿投影到二维离散参考轨迹。
|
||||
/// </summary>
|
||||
public static class TrajectoryProjector
|
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{
|
||||
/// <summary>
|
||||
/// 在整条轨迹上查找距离实际车体中心最近的线段投影结果。
|
||||
/// </summary>
|
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public static TrajectoryProjection Project(
|
||||
Trajectory2D trajectory,
|
||||
Pose2D vehiclePoseInWorld)
|
||||
{
|
||||
if (trajectory == null)
|
||||
{
|
||||
throw new ArgumentNullException(
|
||||
nameof(trajectory));
|
||||
}
|
||||
|
||||
EnsureFinitePose(
|
||||
vehiclePoseInWorld,
|
||||
nameof(vehiclePoseInWorld));
|
||||
|
||||
var bestSegmentStartIndex = 0;
|
||||
var bestInterpolationRatio = 0.0;
|
||||
var bestProjectedX = 0.0;
|
||||
var bestProjectedY = 0.0;
|
||||
var bestDistanceSquared =
|
||||
double.PositiveInfinity;
|
||||
|
||||
for (var segmentStartIndex = 0;
|
||||
segmentStartIndex < trajectory.Count - 1;
|
||||
segmentStartIndex++)
|
||||
{
|
||||
var segmentStart =
|
||||
trajectory[segmentStartIndex];
|
||||
var segmentEnd =
|
||||
trajectory[segmentStartIndex + 1];
|
||||
|
||||
var segmentX =
|
||||
segmentEnd.PoseInWorld.XMeters -
|
||||
segmentStart.PoseInWorld.XMeters;
|
||||
var segmentY =
|
||||
segmentEnd.PoseInWorld.YMeters -
|
||||
segmentStart.PoseInWorld.YMeters;
|
||||
var segmentLengthSquared =
|
||||
segmentX * segmentX +
|
||||
segmentY * segmentY;
|
||||
|
||||
var vehicleFromSegmentStartX =
|
||||
vehiclePoseInWorld.XMeters -
|
||||
segmentStart.PoseInWorld.XMeters;
|
||||
var vehicleFromSegmentStartY =
|
||||
vehiclePoseInWorld.YMeters -
|
||||
segmentStart.PoseInWorld.YMeters;
|
||||
|
||||
var interpolationRatio =
|
||||
InterpolationMath.Clamp01(
|
||||
(vehicleFromSegmentStartX * segmentX +
|
||||
vehicleFromSegmentStartY * segmentY) /
|
||||
segmentLengthSquared);
|
||||
|
||||
var projectedX =
|
||||
InterpolationMath.Lerp(
|
||||
segmentStart.PoseInWorld.XMeters,
|
||||
segmentEnd.PoseInWorld.XMeters,
|
||||
interpolationRatio);
|
||||
var projectedY =
|
||||
InterpolationMath.Lerp(
|
||||
segmentStart.PoseInWorld.YMeters,
|
||||
segmentEnd.PoseInWorld.YMeters,
|
||||
interpolationRatio);
|
||||
|
||||
var projectionErrorX =
|
||||
projectedX -
|
||||
vehiclePoseInWorld.XMeters;
|
||||
var projectionErrorY =
|
||||
projectedY -
|
||||
vehiclePoseInWorld.YMeters;
|
||||
var distanceSquared =
|
||||
projectionErrorX * projectionErrorX +
|
||||
projectionErrorY * projectionErrorY;
|
||||
|
||||
if (distanceSquared >= bestDistanceSquared)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
bestSegmentStartIndex =
|
||||
segmentStartIndex;
|
||||
bestInterpolationRatio =
|
||||
interpolationRatio;
|
||||
bestProjectedX = projectedX;
|
||||
bestProjectedY = projectedY;
|
||||
bestDistanceSquared = distanceSquared;
|
||||
}
|
||||
|
||||
return BuildProjection(
|
||||
trajectory,
|
||||
vehiclePoseInWorld,
|
||||
bestSegmentStartIndex,
|
||||
bestInterpolationRatio,
|
||||
bestProjectedX,
|
||||
bestProjectedY,
|
||||
bestDistanceSquared);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 根据最近线段和插值比例生成控制器使用的完整投影结果。
|
||||
/// </summary>
|
||||
private static TrajectoryProjection BuildProjection(
|
||||
Trajectory2D trajectory,
|
||||
Pose2D vehiclePoseInWorld,
|
||||
int segmentStartIndex,
|
||||
double interpolationRatio,
|
||||
double projectedX,
|
||||
double projectedY,
|
||||
double distanceSquared)
|
||||
{
|
||||
var segmentStart =
|
||||
trajectory[segmentStartIndex];
|
||||
var segmentEnd =
|
||||
trajectory[segmentStartIndex + 1];
|
||||
|
||||
var referenceYawRadians =
|
||||
AngleMath.LerpRadians(
|
||||
segmentStart.PoseInWorld.YawRadians,
|
||||
segmentEnd.PoseInWorld.YawRadians,
|
||||
interpolationRatio);
|
||||
var referenceArcLengthMeters =
|
||||
InterpolationMath.Lerp(
|
||||
segmentStart.ArcLengthMeters,
|
||||
segmentEnd.ArcLengthMeters,
|
||||
interpolationRatio);
|
||||
var referenceCurvaturePerMeter =
|
||||
InterpolationMath.Lerp(
|
||||
segmentStart.CurvaturePerMeter,
|
||||
segmentEnd.CurvaturePerMeter,
|
||||
interpolationRatio);
|
||||
var referenceSpeedMetersPerSecond =
|
||||
InterpolationMath.Lerp(
|
||||
segmentStart.ReferenceSpeedMetersPerSecond,
|
||||
segmentEnd.ReferenceSpeedMetersPerSecond,
|
||||
interpolationRatio);
|
||||
|
||||
var referencePoint =
|
||||
new TrajectoryPoint(
|
||||
referenceArcLengthMeters,
|
||||
new Pose2D(
|
||||
projectedX,
|
||||
projectedY,
|
||||
referenceYawRadians),
|
||||
referenceCurvaturePerMeter,
|
||||
referenceSpeedMetersPerSecond);
|
||||
|
||||
var segmentX =
|
||||
segmentEnd.PoseInWorld.XMeters -
|
||||
segmentStart.PoseInWorld.XMeters;
|
||||
var segmentY =
|
||||
segmentEnd.PoseInWorld.YMeters -
|
||||
segmentStart.PoseInWorld.YMeters;
|
||||
var segmentLength =
|
||||
Math.Sqrt(
|
||||
segmentX * segmentX +
|
||||
segmentY * segmentY);
|
||||
|
||||
// 以轨迹线段的前进方向判断左右：
|
||||
// 从车辆指向参考轨迹的向量位于轨迹左侧时为正。
|
||||
var vehicleToProjectionX =
|
||||
projectedX -
|
||||
vehiclePoseInWorld.XMeters;
|
||||
var vehicleToProjectionY =
|
||||
projectedY -
|
||||
vehiclePoseInWorld.YMeters;
|
||||
var lateralErrorMeters =
|
||||
(segmentX * vehicleToProjectionY -
|
||||
segmentY * vehicleToProjectionX) /
|
||||
segmentLength;
|
||||
|
||||
var headingErrorRadians =
|
||||
AngleMath.ShortestDifferenceRadians(
|
||||
referenceYawRadians,
|
||||
vehiclePoseInWorld.YawRadians);
|
||||
|
||||
return new TrajectoryProjection(
|
||||
segmentStartIndex,
|
||||
referencePoint,
|
||||
lateralErrorMeters,
|
||||
headingErrorRadians,
|
||||
Math.Sqrt(distanceSquared),
|
||||
trajectory.GetRemainingDistanceMeters(
|
||||
referenceArcLengthMeters));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 检查用于投影的实际车体中心位姿是否包含有限数值。
|
||||
/// </summary>
|
||||
private static void EnsureFinitePose(
|
||||
Pose2D pose,
|
||||
string parameterName)
|
||||
{
|
||||
if (double.IsNaN(pose.XMeters) ||
|
||||
double.IsInfinity(pose.XMeters) ||
|
||||
double.IsNaN(pose.YMeters) ||
|
||||
double.IsInfinity(pose.YMeters) ||
|
||||
double.IsNaN(pose.YawRadians) ||
|
||||
double.IsInfinity(pose.YawRadians))
|
||||
{
|
||||
throw new ArgumentOutOfRangeException(
|
||||
parameterName,
|
||||
"用于轨迹投影的车体位姿必须是有限值。");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user