using System;
using MultiWheelC.TrajectoryPlanning.PathSmoothing;

namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;

/// <summary>供平滑算法处理的二维路径采样点；所有长度单位均为 m，航向单位为 rad。</summary>
public sealed class SmoothingPoint2D
{
    /// <summary>创建不可变二维路径点。</summary>
    /// <param name="xMeters">世界坐标 X，单位 m。</param>
    /// <param name="yMeters">世界坐标 Y，单位 m。</param>
    /// <param name="arcLengthMeters">本方向段内从零开始的累计弧长，单位 m。</param>
    /// <param name="headingRadians">归一化车辆航向，单位 rad。</param>
    /// <param name="unwrappedHeadingRadians">连续展开的车辆航向，单位 rad。</param>
    /// <param name="bodyClearanceMeters">路径点携带的保守车体净空，单位 m。</param>
    /// <param name="isGearSwitchPoint">该点是否标记新方向段的换向边界。</param>
    /// <param name="source">点在平滑处理流中的来源枚举。</param>
    public SmoothingPoint2D(
        double xMeters,
        double yMeters,
        double arcLengthMeters,
        double headingRadians,
        double unwrappedHeadingRadians,
        double bodyClearanceMeters,
        bool isGearSwitchPoint,
        SmoothedPathPointSource source)
    {
        X = xMeters;
        Y = yMeters;
        ArcLength = arcLengthMeters;
        Heading = headingRadians;
        UnwrappedHeading = unwrappedHeadingRadians;
        BodyClearance = bodyClearanceMeters;
        IsGearSwitchPoint = isGearSwitchPoint;
        Source = source;
    }

    /// <summary>世界 X 坐标，单位 m。</summary>
    public double X { get; }

    /// <summary>世界 Y 坐标，单位 m。</summary>
    public double Y { get; }

    /// <summary>本方向段中的累计弧长，单位 m。</summary>
    public double ArcLength { get; }

    /// <summary>归一化的车辆航向，单位 rad。</summary>
    public double Heading { get; }

    /// <summary>连续展开的车辆航向，单位 rad。</summary>
    public double UnwrappedHeading { get; }

    /// <summary>输入路径携带的保守净空，单位 m。</summary>
    public double BodyClearance { get; }

    /// <summary>该点是否为新方向段开始处的换向点。</summary>
    public bool IsGearSwitchPoint { get; }

    /// <summary>该点在平滑流程中的来源。</summary>
    public SmoothedPathPointSource Source { get; }
}