84 lines
3.7 KiB
C#
84 lines
3.7 KiB
C#
using System.Collections.Generic;
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using System.Collections.ObjectModel;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
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/// <summary>单个局部 G2 平滑区域的不可变发布报告。</summary>
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public sealed class PathSmoothingRegionReport
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{
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public PathSmoothingRegionReport(
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int segmentIndex,
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double startArcLengthMeters,
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double endArcLengthMeters,
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IReadOnlyList<double> curvatureJumpsPerMeter,
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double plannedWindowLengthMeters,
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double actualWindowLengthMeters,
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double leftWindowLengthMeters,
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double rightWindowLengthMeters,
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int candidateCount,
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int selectedCandidateIndex,
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PathSmoothingRegionStatus status,
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PathSmoothingRegionFailureReason failureReason,
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double rawPeakCurvatureDerivativePerSquareMeter,
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double resultPeakCurvatureDerivativePerSquareMeter,
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double rawCurvatureVariationCost,
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double resultCurvatureVariationCost,
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double maximumDeviationMeters,
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double minimumBodyClearanceMeters,
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double maximumAbsoluteVehicleCurvaturePerMeter)
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{
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SegmentIndex = segmentIndex;
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StartArcLengthMeters = startArcLengthMeters;
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EndArcLengthMeters = endArcLengthMeters;
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CurvatureJumpsPerMeter = CopyReadOnly(curvatureJumpsPerMeter);
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PlannedWindowLengthMeters = plannedWindowLengthMeters;
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ActualWindowLengthMeters = actualWindowLengthMeters;
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LeftWindowLengthMeters = leftWindowLengthMeters;
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RightWindowLengthMeters = rightWindowLengthMeters;
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CandidateCount = candidateCount;
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SelectedCandidateIndex = status == PathSmoothingRegionStatus.Improved
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? selectedCandidateIndex
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: -1;
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Status = status;
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FailureReason = failureReason;
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RawPeakCurvatureDerivativePerSquareMeter = rawPeakCurvatureDerivativePerSquareMeter;
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ResultPeakCurvatureDerivativePerSquareMeter = resultPeakCurvatureDerivativePerSquareMeter;
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RawCurvatureVariationCost = rawCurvatureVariationCost;
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ResultCurvatureVariationCost = resultCurvatureVariationCost;
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MaximumDeviationMeters = maximumDeviationMeters;
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MinimumBodyClearanceMeters = minimumBodyClearanceMeters;
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MaximumAbsoluteVehicleCurvaturePerMeter = maximumAbsoluteVehicleCurvaturePerMeter;
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}
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public int SegmentIndex { get; }
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public double StartArcLengthMeters { get; }
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public double EndArcLengthMeters { get; }
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public IReadOnlyList<double> CurvatureJumpsPerMeter { get; }
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public double PlannedWindowLengthMeters { get; }
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public double ActualWindowLengthMeters { get; }
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public double LeftWindowLengthMeters { get; }
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public double RightWindowLengthMeters { get; }
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public int CandidateCount { get; }
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public int SelectedCandidateIndex { get; }
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public PathSmoothingRegionStatus Status { get; }
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public PathSmoothingRegionFailureReason FailureReason { get; }
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public double RawPeakCurvatureDerivativePerSquareMeter { get; }
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public double ResultPeakCurvatureDerivativePerSquareMeter { get; }
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public double RawCurvatureVariationCost { get; }
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public double ResultCurvatureVariationCost { get; }
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public double MaximumDeviationMeters { get; }
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public double MinimumBodyClearanceMeters { get; }
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public double MaximumAbsoluteVehicleCurvaturePerMeter { get; }
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private static IReadOnlyList<double> CopyReadOnly(IReadOnlyList<double> source)
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{
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var copy = new List<double>(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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copy.Add(source[index]);
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}
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return new ReadOnlyCollection<double>(copy);
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}
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}
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