61 lines
2.2 KiB
C#
61 lines
2.2 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Comparison;
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/// <summary>同一粗路径的离线平滑比较请求。</summary>
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public sealed class PathSmoothingComparisonRequest
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{
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private static readonly SmoothingMethod[] DefaultMethods =
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{
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SmoothingMethod.CubicBSpline,
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SmoothingMethod.LocalCubicBezier,
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SmoothingMethod.PiecewiseQuintic,
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};
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/// <summary>创建比较请求，并固定原始输入与方法顺序。</summary>
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public PathSmoothingComparisonRequest(
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PathSmoothingRequest smoothingRequest,
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IReadOnlyList<SmoothingMethod> methods = null)
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{
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SmoothingRequest = CopyRequest(smoothingRequest);
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Methods = CopyMethods(methods ?? DefaultMethods);
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}
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/// <summary>所有方法共享的不可变粗路径、地图、车辆和配置快照。</summary>
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public PathSmoothingRequest SmoothingRequest { get; }
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/// <summary>按调用方指定稳定顺序运行的方法集合。</summary>
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public IReadOnlyList<SmoothingMethod> Methods { get; }
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private static PathSmoothingRequest CopyRequest(PathSmoothingRequest source)
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{
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if (source == null) return null;
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return new PathSmoothingRequest(
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source.CoarsePath,
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source.Segments,
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source.Map,
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source.Vehicle,
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source.Configuration);
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}
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private static IReadOnlyList<SmoothingMethod> CopyMethods(IReadOnlyList<SmoothingMethod> source)
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{
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var copy = new List<SmoothingMethod>(source == null ? 0 : source.Count);
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if (source != null)
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{
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for (int index = 0; index < source.Count; index++)
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{
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SmoothingMethod method = source[index];
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if (!Enum.IsDefined(typeof(SmoothingMethod), method))
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throw new ArgumentOutOfRangeException(nameof(source), "比较方法无效。");
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if (copy.Contains(method))
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throw new ArgumentException("比较方法不能重复。", nameof(source));
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copy.Add(method);
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}
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}
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return new ReadOnlyCollection<SmoothingMethod>(copy);
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}
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}
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