84 lines
3.2 KiB
C#
84 lines
3.2 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Algorithms;
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internal enum SmoothingCandidateStatus
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{
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Success,
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RetryableInfeasible,
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Failed,
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}
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/// <summary>平滑方法产生的原始方向段候选，尚未经过统一几何或安全复核。</summary>
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internal sealed class SmoothingCandidate
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{
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private SmoothingCandidate(
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SmoothingCandidateStatus status,
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IReadOnlyList<PreparedDirectionSegment> segments,
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string reason)
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{
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Status = status;
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if (status == SmoothingCandidateStatus.Success)
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{
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if (segments == null || segments.Count == 0)
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throw new ArgumentException("A successful smoothing candidate requires direction segments.", nameof(segments));
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for (int index = 0; index < segments.Count; index++)
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{
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if (segments[index] == null || segments[index].Points == null || segments[index].Points.Count == 0)
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throw new ArgumentException("A successful smoothing candidate requires complete direction segments.", nameof(segments));
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}
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Segments = CopyReadOnly(segments);
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Reason = string.Empty;
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return;
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}
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if (string.IsNullOrWhiteSpace(reason))
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throw new ArgumentException("An unsuccessful smoothing candidate requires a reason.", nameof(reason));
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Segments = CopyReadOnly<PreparedDirectionSegment>(null);
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Reason = reason;
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}
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/// <summary>候选是否成功产生有限的原始几何。</summary>
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internal bool Succeeded => Status == SmoothingCandidateStatus.Success;
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/// <summary>候选的可重试性和终止性状态。</summary>
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internal SmoothingCandidateStatus Status { get; }
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/// <summary>候选方向段；失败候选始终为空。</summary>
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internal IReadOnlyList<PreparedDirectionSegment> Segments { get; }
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/// <summary>失败或退化时的稳定说明；成功时为空。</summary>
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internal string Reason { get; }
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/// <summary>创建待统一分析和验证的成功候选。</summary>
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internal static SmoothingCandidate Success(IReadOnlyList<PreparedDirectionSegment> segments)
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{
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return new SmoothingCandidate(SmoothingCandidateStatus.Success, segments, string.Empty);
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}
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/// <summary>创建可由较低平滑强度重新尝试的不可行候选。</summary>
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internal static SmoothingCandidate RetryableInfeasible(string reason)
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{
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return new SmoothingCandidate(SmoothingCandidateStatus.RetryableInfeasible, null, reason);
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}
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/// <summary>创建不应重试的数值或构造失败候选。</summary>
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internal static SmoothingCandidate Failed(string reason)
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{
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return new SmoothingCandidate(SmoothingCandidateStatus.Failed, null, reason);
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}
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private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)
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{
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var copy = new List<T>(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++) copy.Add(source[index]);
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}
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return new ReadOnlyCollection<T>(copy);
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}
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}
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