feat: define path smoothing contracts

2026-07-28 16:48:24 +08:00
parent 727d0e5255
commit ebf7d7d3d4
14 changed files with 712 additions and 0 deletions
@@ -0,0 +1,41 @@
+using MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
+
+/// <summary>平滑路径中方向一致的连续点范围；起止索引均包含在内。</summary>
+public sealed class SmoothedPathSegment
+{
+    public SmoothedPathSegment(
+        int segmentIndex,
+        TravelDirection direction,
+        int startIndex,
+        int endIndex,
+        bool startsAtGearSwitch,
+        bool endsAtGearSwitch)
+    {
+        SegmentIndex = segmentIndex;
+        Direction = direction;
+        StartIndex = startIndex;
+        EndIndex = endIndex;
+        StartsAtGearSwitch = startsAtGearSwitch;
+        EndsAtGearSwitch = endsAtGearSwitch;
+    }
+
+    /// <summary>从零开始的分段序号。</summary>
+    public int SegmentIndex { get; }
+
+    /// <summary>本段行驶方向。</summary>
+    public TravelDirection Direction { get; }
+
+    /// <summary>本段在平滑路径中的起始包含式索引。</summary>
+    public int StartIndex { get; }
+
+    /// <summary>本段在平滑路径中的结束包含式索引。</summary>
+    public int EndIndex { get; }
+
+    /// <summary>本段首点是否为换向后保留的新方向点。</summary>
+    public bool StartsAtGearSwitch { get; }
+
+    /// <summary>本段末点是否紧邻下一方向段的换向对。</summary>
+    public bool EndsAtGearSwitch { get; }
+}