17 lines
632 B
C#
17 lines
632 B
C#
using System;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
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/// <summary>局部三次 Bézier 平滑参数。</summary>
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public sealed class LocalCubicBezierOptions
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{
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/// <summary>判定为明显转角的最小航向变化，单位 rad。</summary>
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public double CornerHeadingThresholdRadians { get; set; } = Math.PI / 18d;
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/// <summary>单个局部平滑窗口的最大弧长，单位 m。</summary>
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public double MaximumWindowLengthMeters { get; set; } = 0.60d;
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/// <summary>控制柄相对于窗口局部弦长的比例。</summary>
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public double HandleLengthRatio { get; set; } = 1d / 3d;
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}
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