121 lines
4.6 KiB
C#
121 lines
4.6 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>原始基线或一种平滑方法的不可变比较条目。</summary>
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public sealed class PathSmoothingComparisonEntry
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{
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/// <summary>为测试、离线分析和排序创建不携带路径几何的候选条目。</summary>
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public PathSmoothingComparisonEntry(
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SmoothingMethod method,
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PathSmoothingStatus status,
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PathQualityMetrics metrics,
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SmoothingTimingSummary timing,
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string stableGeometryDigest,
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string diagnostic)
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: this(method, false, status, metrics, timing, stableGeometryDigest, diagnostic, Empty<SmoothedPathPoint>(), Empty<SmoothedPathSegment>())
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{
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}
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private PathSmoothingComparisonEntry(
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SmoothingMethod? method,
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bool isRawPathBaseline,
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PathSmoothingStatus status,
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PathQualityMetrics metrics,
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SmoothingTimingSummary timing,
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string stableGeometryDigest,
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string diagnostic,
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IReadOnlyList<SmoothedPathPoint> path,
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IReadOnlyList<SmoothedPathSegment> segments)
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{
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Method = method;
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IsRawPathBaseline = isRawPathBaseline;
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Status = status;
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Metrics = metrics ?? new PathQualityMetrics();
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Timing = timing ?? new SmoothingTimingSummary(new double[] { 0d, 0d, 0d, 0d, 0d }, false, "未提供计时结果。");
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StableGeometryDigest = stableGeometryDigest ?? string.Empty;
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Diagnostic = diagnostic ?? string.Empty;
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Path = CopyReadOnly(path);
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Segments = CopyReadOnly(segments);
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}
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/// <summary>候选所代表的方法；原始粗路径基线为空。</summary>
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public SmoothingMethod? Method { get; }
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/// <summary>是否为单独分析的原始粗路径基线。</summary>
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public bool IsRawPathBaseline { get; }
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/// <summary>本条目的最终状态。</summary>
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public PathSmoothingStatus Status { get; }
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/// <summary>使用原始基线规范化后的质量指标。</summary>
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public PathQualityMetrics Metrics { get; }
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/// <summary>方法的五次测量计时；基线不参与计时排名。</summary>
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public SmoothingTimingSummary Timing { get; }
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/// <summary>由状态、分段元数据和完整路径 IEEE 754 位模式生成的 SHA-256 摘要。</summary>
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public string StableGeometryDigest { get; }
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/// <summary>面向报告和诊断的稳定说明。</summary>
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public string Diagnostic { get; }
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/// <summary>仅供比较与报告读取的正式路径；失败时为空。</summary>
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public IReadOnlyList<SmoothedPathPoint> Path { get; }
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/// <summary>覆盖 <see cref="Path"/> 的方向段；失败时为空。</summary>
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public IReadOnlyList<SmoothedPathSegment> Segments { get; }
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/// <summary>条目能否参与方法推荐。</summary>
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public bool IsEligibleForRecommendation =>
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!IsRawPathBaseline &&
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Status == PathSmoothingStatus.Success &&
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Metrics.IsFeasible &&
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Timing.IsDeterministic;
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internal static PathSmoothingComparisonEntry CreateCandidate(
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SmoothingMethod method,
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PathSmoothingStatus status,
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PathQualityMetrics metrics,
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SmoothingTimingSummary timing,
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string stableGeometryDigest,
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string diagnostic,
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IReadOnlyList<SmoothedPathPoint> path,
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IReadOnlyList<SmoothedPathSegment> segments)
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{
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return new PathSmoothingComparisonEntry(
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method, false, status, metrics, timing, stableGeometryDigest, diagnostic, path, segments);
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}
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internal static PathSmoothingComparisonEntry CreateRawPathBaseline(
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PathSmoothingStatus status,
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PathQualityMetrics metrics,
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string stableGeometryDigest,
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string diagnostic,
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IReadOnlyList<SmoothedPathPoint> path,
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IReadOnlyList<SmoothedPathSegment> segments)
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{
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return new PathSmoothingComparisonEntry(
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null, true, status, metrics,
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new SmoothingTimingSummary(new double[] { 0d, 0d, 0d, 0d, 0d }, true, string.Empty),
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stableGeometryDigest, diagnostic, path, segments);
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}
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private static IReadOnlyList<T> Empty<T>()
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{
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return new ReadOnlyCollection<T>(new List<T>());
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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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