50 lines
2.0 KiB
C#
50 lines
2.0 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>一次离线比较的不可变基线、方法条目和推荐结论。</summary>
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public sealed class PathSmoothingComparisonResult
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{
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internal PathSmoothingComparisonResult(
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PathSmoothingComparisonEntry rawPathBaseline,
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IReadOnlyList<PathSmoothingComparisonEntry> entries,
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SmoothingMethod? recommendedMethod,
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bool isCancelled,
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string diagnostic)
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{
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RawPathBaseline = rawPathBaseline ?? throw new ArgumentNullException(nameof(rawPathBaseline));
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Entries = CopyReadOnly(entries);
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RecommendedMethod = recommendedMethod;
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IsCancelled = isCancelled;
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Diagnostic = diagnostic ?? string.Empty;
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}
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/// <summary>独立分析的原始粗路径；不属于任何候选方法。</summary>
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public PathSmoothingComparisonEntry RawPathBaseline { get; }
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/// <summary>每个请求方法恰有一个条目；取消时可能只包含已完成的方法。</summary>
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public IReadOnlyList<PathSmoothingComparisonEntry> Entries { get; }
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/// <summary>按公开字典序选择的方法；没有合格方法或取消时为空。</summary>
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public SmoothingMethod? RecommendedMethod { get; }
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/// <summary>比较是否在启动后续方法前被取消。</summary>
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public bool IsCancelled { get; }
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/// <summary>整个比较的稳定状态说明。</summary>
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public string Diagnostic { get; }
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private static IReadOnlyList<PathSmoothingComparisonEntry> CopyReadOnly(
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IReadOnlyList<PathSmoothingComparisonEntry> source)
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{
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var copy = new List<PathSmoothingComparisonEntry>(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<PathSmoothingComparisonEntry>(copy);
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}
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}
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