460 lines
24 KiB
C#
460 lines
24 KiB
C#
using System;
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using System.Collections.Generic;
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using EMPlannerVerificationHost;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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internal static class LongitudinalModelChecks
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{
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public static void Run()
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{
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VerifiesJerkLimitedStoppingProfileEndsAtRest();
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VerifiesStoppedReachabilityUsesTheSameJerkModel();
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VerifiesFinitePathSIndexedSpeedEnvelope();
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VerifiesStoppingEnvelopeIsRefinedOnActualPathS();
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VerifiesStoppingEnvelopeUsesDiscreteTimeTailStations();
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VerifiesStoppingPrecheckBeforeQpAssembly();
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VerifiesReferenceHorizonSelectionSeparatesSpaceAndTime();
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VerifiesTimeKnotLayoutDynamicsObjectiveAndHardConstraints();
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}
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private static void VerifiesJerkLimitedStoppingProfileEndsAtRest()
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{
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Verification.True(JerkLimitedStoppingMath.TryCalculate(
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0.20d, 0d, 0.30d, 0.50d,
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out JerkLimitedStoppingProfile profile, out string failure),
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"jerk-limited stop builds: " + failure);
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Verification.True(profile.DistanceMeters > 0d, "stop distance is positive");
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Verification.True(profile.DurationSeconds > 0d, "stop duration is positive");
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Verification.NearlyEqual(0d, profile.FinalSpeedMetersPerSecond,
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"stop ends at zero speed");
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Verification.NearlyEqual(0d, profile.FinalAccelerationMetersPerSecondSquared,
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"stop releases acceleration to zero");
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Verification.True(JerkLimitedStoppingMath.TryCalculate(
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0.20d, 0.20d, 0.30d, 0.50d,
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out JerkLimitedStoppingProfile accelerating, out failure),
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"positive-acceleration stop builds: " + failure);
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Verification.True(accelerating.DistanceMeters > profile.DistanceMeters,
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"positive initial acceleration needs more stopping distance");
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Verification.NearlyEqual(0d, accelerating.FinalAccelerationMetersPerSecondSquared,
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"positive-acceleration stop also releases acceleration");
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}
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private static void VerifiesStoppedReachabilityUsesTheSameJerkModel()
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{
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double maximumDistance = JerkLimitedStoppingMath.CalculateMaximumStoppedDistance(
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0d, 0d, 0.20d, 0.20d, 0.30d, 0.50d, 2d);
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Verification.True(maximumDistance > 0d && maximumDistance < 0.40d,
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"two-second stopped reach is finite and below unconstrained cruise distance");
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double cap = JerkLimitedStoppingMath.MaximumInitialSpeedForDistance(
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maximumDistance, 0.20d, 0.30d, 0.50d, 0.20d);
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Verification.True(cap >= 0d && cap <= 0.20d,
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"distance inversion stays inside the direction speed range");
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}
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private static void VerifiesFinitePathSIndexedSpeedEnvelope()
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{
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LateralPath directionPath = CreatePath(new[]
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{
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new PathFixture(0d, 0d, 0d, 0d),
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new PathFixture(1d, 1d, 0d, 0d),
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});
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var directionInput = new LongitudinalPlanningInput(directionPath, TravelDirection.Forward, 0d, 0d,
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EmTerminalType.Goal, EmLongitudinalMode.ExactStopAtBoundary, EmPlannerConfiguration.CreateDefault(),
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Array.Empty<double>(), Array.Empty<double>());
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EmPlanningStatus directionStatus = new PathSpeedLimitBuilder().Build(directionInput,
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out PathSpeedLimit directionEnvelope, out string directionFailureReason);
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Verification.Equal(EmPlanningStatus.Success, directionStatus, "default direction speed limit status: " +
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directionFailureReason);
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Verification.NearlyEqual(0.20d, directionEnvelope.DirectionMaximumSpeedMetersPerSecond,
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"default direction speed limit");
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EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
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configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 1d;
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configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond = 1d;
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LateralPath path = CreatePath(new[]
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{
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new PathFixture(10d, 0d, 0d, 0d),
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new PathFixture(20d, 2d, 2d, 4d),
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new PathFixture(20.5d, 4d, 20d, 0d),
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new PathFixture(21d, 5d, 0d, 0d),
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});
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var input = new LongitudinalPlanningInput(path, TravelDirection.Forward, 0d, 0d,
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EmTerminalType.Goal, EmLongitudinalMode.ExactStopAtBoundary, configuration,
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Array.Empty<double>(), Array.Empty<double>());
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EmPlanningStatus status = new PathSpeedLimitBuilder().Build(input, out PathSpeedLimit envelope,
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out string failureReason);
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Verification.Equal(EmPlanningStatus.Success, status, "speed envelope status: " + failureReason);
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Verification.NearlyEqual(1d, envelope.DirectionMaximumSpeedMetersPerSecond, "overridden direction speed limit");
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Verification.NearlyEqual(Math.Sqrt(0.20d / 2d), envelope.LateralAccelerationLimitAt(2d),
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"curvature lateral-acceleration limit");
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Verification.NearlyEqual(0.50d / 4d, envelope.CurvatureRateLimitAt(2d), "curvature-rate limit");
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Verification.True(double.IsFinite(envelope.LateralAccelerationLimitAt(0d)) &&
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double.IsFinite(envelope.CurvatureRateLimitAt(0d)), "zero curvature limits stay finite");
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Verification.NearlyEqual(Math.Sqrt(2d * 0.30d * (5d - 4d)), envelope.StoppingLimitAt(4d),
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"stopping speed limit");
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Verification.NearlyEqual(Math.Sqrt(0.20d / 20d), envelope.MaximumSpeedAt(4d),
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"combined limit chooses the finite minimum");
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double interpolationQueryPathS = 1.013d;
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int upperStation = 1;
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while (envelope.PathS[upperStation] < interpolationQueryPathS)
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upperStation++;
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double lowerPathS = envelope.PathS[upperStation - 1];
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double upperPathS = envelope.PathS[upperStation];
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double fraction = (interpolationQueryPathS - lowerPathS) / (upperPathS - lowerPathS);
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double expectedInterpolatedSpeed = envelope.MaximumSpeedMetersPerSecond[upperStation - 1] +
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(envelope.MaximumSpeedMetersPerSecond[upperStation] - envelope.MaximumSpeedMetersPerSecond[upperStation - 1]) *
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fraction;
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Verification.NearlyEqual(expectedInterpolatedSpeed, envelope.MaximumSpeedAt(interpolationQueryPathS),
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"speed envelope interpolates by PathS rather than ReferenceS");
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Verification.NearlyEqual(0d, envelope.MaximumSpeedAt(5d), "terminal speed is exactly zero");
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}
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private static void VerifiesStoppingEnvelopeIsRefinedOnActualPathS()
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{
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EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
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configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 1d;
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configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond = 1d;
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LateralPath path = CreatePath(new[]
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{
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new PathFixture(0d, 0d, 0d, 0d),
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new PathFixture(100d, 2d, 0d, 0d),
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});
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var input = new LongitudinalPlanningInput(path, TravelDirection.Forward, 0d, 0d,
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EmTerminalType.Goal, EmLongitudinalMode.ExactStopAtBoundary, configuration,
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Array.Empty<double>(), Array.Empty<double>());
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EmPlanningStatus status = new PathSpeedLimitBuilder().Build(input, out PathSpeedLimit envelope,
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out string failureReason);
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Verification.Equal(EmPlanningStatus.Success, status, "refined stopping envelope status: " + failureReason);
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Verification.True(envelope.PathS.Count > path.Points.Count, "stopping envelope inserts actual-PathS refinement stations");
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Verification.NearlyEqual(Math.Sqrt(2d * 0.30d * (2d - 1.5d)), envelope.MaximumSpeedAt(1.5d),
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"refined stopping envelope avoids a sparse terminal chord");
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}
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private static void VerifiesStoppingEnvelopeUsesDiscreteTimeTailStations()
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{
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EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
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configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 1d;
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configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond = 1d;
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LateralPath path = CreatePath(new[]
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{
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new PathFixture(0d, 0d, 0d, 0d),
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new PathFixture(100d, 2d, 0d, 0d),
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});
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var input = new LongitudinalPlanningInput(path, TravelDirection.Forward, 0d, 0d,
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EmTerminalType.Goal, EmLongitudinalMode.ExactStopAtBoundary, configuration,
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Array.Empty<double>(), Array.Empty<double>());
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EmPlanningStatus status = new PathSpeedLimitBuilder().Build(input, out PathSpeedLimit envelope,
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out string failureReason);
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Verification.Equal(EmPlanningStatus.Success, status, "discrete stopping-tail status: " + failureReason);
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double timeStep = configuration.Scheduling.OutputTimeStepSeconds;
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double deceleration = configuration.Longitudinal.MaximumDecelerationMetersPerSecondSquared;
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double firstTailDistance = 0.5d * deceleration * timeStep * timeStep;
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double firstTailPathS = input.TerminalPathS - firstTailDistance;
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Verification.NearlyEqual(deceleration * timeStep, envelope.StoppingLimitAt(firstTailPathS),
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"first stopping-tail station matches one discrete deceleration time step");
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double jerk = configuration.Longitudinal.MaximumJerkMetersPerSecondCubed;
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double firstJerkTailDistance = jerk * timeStep * timeStep * timeStep / 6d;
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double firstJerkTailPathS = input.TerminalPathS - firstJerkTailDistance;
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Verification.NearlyEqual(Math.Sqrt(2d * deceleration * firstJerkTailDistance),
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envelope.StoppingLimitAt(firstJerkTailPathS),
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"first stopping-tail station matches one discrete jerk-release time step");
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}
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private static void VerifiesStoppingPrecheckBeforeQpAssembly()
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{
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EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
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LateralPath shortPath = CreatePath(new[]
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{
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new PathFixture(0d, 0d, 0d, 0d),
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new PathFixture(100d, 0.01d, 0d, 0d),
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});
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var input = new LongitudinalPlanningInput(shortPath, TravelDirection.Forward, 0.20d, 0.20d,
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EmTerminalType.RollingSafetyStop, EmLongitudinalMode.RollingContinuation, configuration,
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Array.Empty<double>(), Array.Empty<double>());
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EmPlanningStatus status = new PathSpeedLimitBuilder().Build(input, out PathSpeedLimit envelope,
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out string failureReason);
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Verification.Equal(EmPlanningStatus.StoppingDistanceInsufficient, status,
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"jerk/deceleration stopping precheck status");
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Verification.True(envelope == null, "stopping-distance failure does not create a speed envelope");
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Verification.True(failureReason.Length != 0, "stopping-distance failure explains the rejection");
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}
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private static void VerifiesReferenceHorizonSelectionSeparatesSpaceAndTime()
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{
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EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
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configuration.Scheduling.DistanceHorizonMeters = 1d;
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configuration.Scheduling.TimeHorizonSeconds = 2d;
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DirectionSegmentView longSegment = CreateSegment(4d, EmBoundaryType.Goal);
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EmPlanningStatus status = new PlanningHorizonSelector().Select(
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longSegment, 0d, 0d, 0d, configuration,
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out PlanningHorizonSelection rolling, out string failure);
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Verification.Equal(EmPlanningStatus.Success, status, "rolling selection: " + failure);
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Verification.NearlyEqual(1d, rolling.WindowEndReferenceS,
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"distance horizon defines the LS window");
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Verification.Equal(EmLongitudinalMode.RollingContinuation,
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rolling.LongitudinalMode, "far boundary rolls");
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DirectionSegmentView visibleButFar = CreateSegment(0.35d, EmBoundaryType.Goal);
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status = new PlanningHorizonSelector().Select(
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visibleButFar, 0d, 0d, 0d, configuration,
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out PlanningHorizonSelection approach, out failure);
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Verification.Equal(EmPlanningStatus.Success, status, "approach selection: " + failure);
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Verification.Equal(EmLongitudinalMode.ApproachStopBoundary,
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approach.LongitudinalMode, "visible unreachable boundary approaches");
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DirectionSegmentView reachableGoal = CreateSegment(0.10d, EmBoundaryType.Goal);
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status = new PlanningHorizonSelector().Select(
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reachableGoal, 0d, 0d, 0d, configuration,
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out PlanningHorizonSelection exact, out failure);
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Verification.Equal(EmPlanningStatus.Success, status, "exact selection: " + failure);
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Verification.Equal(EmLongitudinalMode.ExactStopAtBoundary,
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exact.LongitudinalMode, "reachable goal stops exactly");
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Verification.Equal(EmTerminalType.Goal, exact.TerminalType,
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"exact stop preserves Goal identity");
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IReadOnlyList<double> regularTimes = LongitudinalCandidate.CreateKnotTimes(2d, 0.1d);
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Verification.Equal(19, LongitudinalTerminalSchedule.GetStabilizationStartIndex(
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regularTimes, 0.1d), "regular exact stop reserves t=1.9..2.0");
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Verification.Equal(1, LongitudinalTerminalSchedule.GetStabilizationStartIndex(
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new[] { 0d, 0.1d, 0.2d, 0.25d }, 0.1d),
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"short final interval moves the stop anchor earlier");
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}
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private static void VerifiesTimeKnotLayoutDynamicsObjectiveAndHardConstraints()
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{
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var layout = new LongitudinalVariableLayout(5);
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Verification.Equal(19, layout.VariableCount, "ST variable count");
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for (int index = 0; index < 5; index++)
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{
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Verification.Equal(index, layout.S(index), "s index " + index);
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Verification.Equal(5 + index, layout.U(index), "u index " + index);
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Verification.Equal(10 + index, layout.A(index), "a index " + index);
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}
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for (int index = 0; index < 4; index++)
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Verification.Equal(15 + index, layout.J(index), "j index " + index);
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double[] times = { 0d, 0.05d, 0.10d, 0.15d, 0.20d };
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double[] jerk = { 0.30d, -0.10d, 0.20d, -0.20d };
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LongitudinalCandidate integrated = LongitudinalCandidate.Integrate(times, 0d, 0.10d, 0.02d, jerk);
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for (int index = 0; index < jerk.Length; index++)
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{
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double dt = times[index + 1] - times[index];
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Verification.NearlyEqual(integrated.A[index] + dt * integrated.J[index], integrated.A[index + 1],
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"exact ST acceleration dynamics " + index);
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Verification.NearlyEqual(integrated.U[index] + dt * integrated.A[index] + 0.5d * dt * dt * integrated.J[index],
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integrated.U[index + 1], "exact ST speed dynamics " + index);
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Verification.NearlyEqual(integrated.S[index] + dt * integrated.U[index] +
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0.5d * dt * dt * integrated.A[index] + dt * dt * dt * integrated.J[index] / 6d,
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integrated.S[index + 1], "exact ST progress dynamics " + index);
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}
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Verification.True(integrated.SatisfiesExactDiscreteDynamics(1e-12d), "integrated ST candidate validates dynamics");
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EmPlannerConfiguration configuration = CreateUnitScaleConfiguration();
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LateralPath path = CreatePath(new[]
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{
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new PathFixture(0d, 0d, 0d, 0d),
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new PathFixture(1d, 1d, 0d, 0d),
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new PathFixture(2d, 2d, 0d, 0d),
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});
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var input = new LongitudinalPlanningInput(path, TravelDirection.Forward, 0.10d, 0.02d,
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EmTerminalType.Goal, EmLongitudinalMode.ExactStopAtBoundary, configuration,
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new[] { 0d, 0.10d, 0.20d, 0.30d, 0.40d },
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new[] { 0.20d, 0.20d, 0.20d, 0.20d, 0.20d });
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EmPlanningStatus speedStatus = new PathSpeedLimitBuilder().Build(input, out PathSpeedLimit envelope,
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out string speedFailure);
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Verification.Equal(EmPlanningStatus.Success, speedStatus, "unit-scale speed envelope: " + speedFailure);
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Verification.True(new LongitudinalConstraintBuilder(new LongitudinalObjectiveBuilder()).TryBuild(input, envelope,
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integrated, out QuadraticProgram problem, out string failureReason), "ST QP builds: " + failureReason);
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Verification.NearlyEqual(30d, MatrixValue(problem.UpperTriangularP, layout.U(0), layout.U(0)),
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"normalized speed and previous-U P coefficient");
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Verification.NearlyEqual(2d, MatrixValue(problem.UpperTriangularP, layout.A(0), layout.A(0)),
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"normalized acceleration P coefficient");
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Verification.NearlyEqual(20d, MatrixValue(problem.UpperTriangularP, layout.J(0), layout.J(0)),
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"normalized jerk P coefficient");
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Verification.NearlyEqual(2.5d, MatrixValue(problem.UpperTriangularP, layout.S(0), layout.S(0)),
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"normalized previous-S P coefficient");
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Verification.NearlyEqual(0d, MatrixValue(problem.UpperTriangularP, layout.S(4), layout.S(4)),
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"fixed terminal S has no progress-reward coefficient");
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FindSingleVariableBounds(problem, layout.S(0), out double sLower, out double sUpper);
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Verification.NearlyEqual(0d, sLower, "S lower bound");
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Verification.NearlyEqual(2d, sUpper, "S upper bound");
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FindSingleVariableBounds(problem, layout.U(1), out double uLower, out double uUpper);
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Verification.NearlyEqual(0d, uLower, "U nonnegative bound");
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Verification.NearlyEqual(envelope.MaximumSpeedAt(integrated.S[1]), uUpper,
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"U upper bound samples envelope at current S iterate");
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FindSingleVariableBounds(problem, layout.A(1), out double aLower, out double aUpper);
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Verification.NearlyEqual(-1d, aLower, "deceleration lower bound");
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Verification.NearlyEqual(1d, aUpper, "acceleration upper bound");
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FindSingleVariableBounds(problem, layout.J(1), out double jLower, out double jUpper);
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Verification.NearlyEqual(-1d, jLower, "jerk lower bound");
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Verification.NearlyEqual(1d, jUpper, "jerk upper bound");
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Verification.Equal(1, CountExactEqualityRows(problem, new Dictionary<int, double> { { layout.S(0), 1d } }, 0d),
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"exact initial S");
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Verification.Equal(1, CountExactEqualityRows(problem, new Dictionary<int, double> { { layout.U(0), 1d } }, 0.10d),
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"exact initial U");
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Verification.Equal(1, CountExactEqualityRows(problem, new Dictionary<int, double> { { layout.A(0), 1d } }, 0.02d),
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"exact initial A");
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Verification.Equal(1, CountExactEqualityRows(problem, new Dictionary<int, double> { { layout.S(4), 1d } }, 2d),
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"exact terminal S");
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Verification.Equal(1, CountExactEqualityRows(problem, new Dictionary<int, double> { { layout.U(4), 1d } }, 0d),
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"exact terminal U");
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Verification.Equal(1, CountBoundedRow(problem, new Dictionary<int, double>
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{
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{ layout.S(1), 1d }, { layout.S(0), -1d },
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}, 0d, QuadraticProgram.MaximumFiniteBound), "monotonic S hard constraint");
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Verification.Equal(1, CountExactEqualityRows(problem, new Dictionary<int, double>
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{
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{ layout.A(1), 1d }, { layout.A(0), -1d }, { layout.J(0), -0.05d },
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}, 0d), "exact ST acceleration equation");
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Verification.Equal(1, CountExactEqualityRows(problem, new Dictionary<int, double>
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{
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{ layout.U(1), 1d }, { layout.U(0), -1d }, { layout.A(0), -0.05d }, { layout.J(0), -0.00125d },
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}, 0d), "exact ST speed equation");
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Verification.Equal(1, CountExactEqualityRows(problem, new Dictionary<int, double>
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{
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{ layout.S(1), 1d }, { layout.S(0), -1d }, { layout.U(0), -0.05d }, { layout.A(0), -0.00125d },
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{ layout.J(0), -0.000020833333333333333d },
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}, 0d), "exact ST progress equation");
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}
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private static LateralPath CreatePath(IReadOnlyList<PathFixture> fixtures)
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{
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var points = new List<LateralPathPoint>(fixtures.Count);
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for (int index = 0; index < fixtures.Count; index++)
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{
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PathFixture fixture = fixtures[index];
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points.Add(new LateralPathPoint(fixture.ReferenceS, fixture.PathS, 0d, 0d, 0d, 0d, fixture.PathS, 0d,
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0d, fixture.Curvature, fixture.Curvature, fixture.CurvatureDerivative));
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}
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return new LateralPath(points, true);
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}
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private static DirectionSegmentView CreateSegment(double length, EmBoundaryType endBoundaryType)
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{
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var points = new List<SmoothedPathPoint>
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{
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Point(0d, 0d),
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Point(length, length),
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};
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return new DirectionSegmentView(0, TravelDirection.Forward, points,
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new ReferenceBoundary(0, 0d, EmBoundaryType.None, 0d),
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new ReferenceBoundary(0, length, endBoundaryType, length), 0d);
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}
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private static SmoothedPathPoint Point(double x, double s)
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{
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return new SmoothedPathPoint(x, 0d, 0d, 0d, s, TravelDirection.Forward, 0d, 0d, 0d, 1d, false,
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SmoothedPathPointSource.Anchor);
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}
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private static EmPlannerConfiguration CreateUnitScaleConfiguration()
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{
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EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
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configuration.Scheduling.TimeHorizonSeconds = 0.20d;
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configuration.Scheduling.OutputTimeStepSeconds = 0.05d;
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configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 1d;
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|
configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond = 1d;
|
|
configuration.Longitudinal.MaximumAccelerationMetersPerSecondSquared = 1d;
|
|
configuration.Longitudinal.MaximumDecelerationMetersPerSecondSquared = 1d;
|
|
configuration.Longitudinal.MaximumJerkMetersPerSecondCubed = 1d;
|
|
configuration.Longitudinal.MaximumLateralAccelerationMetersPerSecondSquared = 1d;
|
|
configuration.Longitudinal.MaximumCurvatureRatePerMeterPerSecond = 1d;
|
|
return configuration;
|
|
}
|
|
|
|
private static double MatrixValue(SparseCscMatrix matrix, int row, int column)
|
|
{
|
|
for (int index = matrix.ColumnPointers[column]; index < matrix.ColumnPointers[column + 1]; index++)
|
|
{
|
|
if (matrix.RowIndices[index] == row)
|
|
return matrix.Values[index];
|
|
}
|
|
return 0d;
|
|
}
|
|
|
|
private static void FindSingleVariableBounds(QuadraticProgram problem, int variable, out double lower, out double upper)
|
|
{
|
|
for (int row = 0; row < problem.ConstraintCount; row++)
|
|
{
|
|
if (RowMatches(problem.ConstraintMatrix, row, new Dictionary<int, double> { { variable, 1d } }))
|
|
{
|
|
lower = problem.LowerBounds[row];
|
|
upper = problem.UpperBounds[row];
|
|
return;
|
|
}
|
|
}
|
|
throw new InvalidOperationException("No single-variable bounds were found for variable " + variable + ".");
|
|
}
|
|
|
|
private static int CountExactEqualityRows(QuadraticProgram problem, IReadOnlyDictionary<int, double> expected,
|
|
double bound)
|
|
{
|
|
return CountBoundedRow(problem, expected, bound, bound);
|
|
}
|
|
|
|
private static int CountBoundedRow(QuadraticProgram problem, IReadOnlyDictionary<int, double> expected,
|
|
double lower, double upper)
|
|
{
|
|
int count = 0;
|
|
for (int row = 0; row < problem.ConstraintCount; row++)
|
|
{
|
|
if (Math.Abs(problem.LowerBounds[row] - lower) <= 1e-12d &&
|
|
Math.Abs(problem.UpperBounds[row] - upper) <= 1e-12d && RowMatches(problem.ConstraintMatrix, row, expected))
|
|
{
|
|
count++;
|
|
}
|
|
}
|
|
return count;
|
|
}
|
|
|
|
private static bool RowMatches(SparseCscMatrix matrix, int targetRow, IReadOnlyDictionary<int, double> expected)
|
|
{
|
|
var actual = new Dictionary<int, double>();
|
|
for (int column = 0; column < matrix.ColumnCount; column++)
|
|
{
|
|
for (int index = matrix.ColumnPointers[column]; index < matrix.ColumnPointers[column + 1]; index++)
|
|
{
|
|
if (matrix.RowIndices[index] == targetRow)
|
|
actual[column] = matrix.Values[index];
|
|
}
|
|
}
|
|
if (actual.Count != expected.Count)
|
|
return false;
|
|
foreach (KeyValuePair<int, double> pair in expected)
|
|
{
|
|
if (!actual.TryGetValue(pair.Key, out double actualValue) || Math.Abs(actualValue - pair.Value) > 1e-12d)
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
private sealed class PathFixture
|
|
{
|
|
public PathFixture(double referenceS, double pathS, double curvature, double curvatureDerivative)
|
|
{
|
|
ReferenceS = referenceS;
|
|
PathS = pathS;
|
|
Curvature = curvature;
|
|
CurvatureDerivative = curvatureDerivative;
|
|
}
|
|
|
|
public double ReferenceS { get; }
|
|
public double PathS { get; }
|
|
public double Curvature { get; }
|
|
public double CurvatureDerivative { get; }
|
|
}
|
|
}
|