109 lines
4.6 KiB
C#
109 lines
4.6 KiB
C#
namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
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/// <summary>一条原始或平滑路径的不可变质量指标。</summary>
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public sealed class PathQualityMetrics
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{
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/// <summary>创建全零、不可行的质量指标。</summary>
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public PathQualityMetrics()
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: this(false, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d)
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{
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}
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/// <summary>创建完整的质量指标快照。</summary>
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public PathQualityMetrics(
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bool isFeasible,
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double pathLengthMeters,
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double maximumAbsoluteVehicleCurvaturePerMeter,
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double rootMeanSquareVehicleCurvaturePerMeter,
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double totalAbsoluteCurvatureVariationPerMeter,
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double curvatureVariationEnergy,
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double minimumBodyClearanceMeters,
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double lengthChangePercent,
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double peakCurvatureChangePercent,
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double curvatureVariationChangePercent,
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double minimumClearanceChangeMeters)
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: this(
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isFeasible,
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pathLengthMeters,
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maximumAbsoluteVehicleCurvaturePerMeter,
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0d,
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rootMeanSquareVehicleCurvaturePerMeter,
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totalAbsoluteCurvatureVariationPerMeter,
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curvatureVariationEnergy,
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minimumBodyClearanceMeters,
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lengthChangePercent,
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peakCurvatureChangePercent,
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curvatureVariationChangePercent,
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minimumClearanceChangeMeters)
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{
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}
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/// <summary>创建带有曲率导数峰值的完整质量指标快照。</summary>
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public PathQualityMetrics(
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bool isFeasible,
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double pathLengthMeters,
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double maximumAbsoluteVehicleCurvaturePerMeter,
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double maximumAbsoluteVehicleCurvatureDerivativePerSquareMeter,
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double rootMeanSquareVehicleCurvaturePerMeter,
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double totalAbsoluteCurvatureVariationPerMeter,
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double curvatureVariationEnergy,
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double minimumBodyClearanceMeters,
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double lengthChangePercent,
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double peakCurvatureChangePercent,
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double curvatureVariationChangePercent,
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double minimumClearanceChangeMeters)
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{
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IsFeasible = isFeasible;
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PathLengthMeters = pathLengthMeters;
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MaximumAbsoluteVehicleCurvaturePerMeter = maximumAbsoluteVehicleCurvaturePerMeter;
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MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter = maximumAbsoluteVehicleCurvatureDerivativePerSquareMeter;
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RootMeanSquareVehicleCurvaturePerMeter = rootMeanSquareVehicleCurvaturePerMeter;
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TotalAbsoluteCurvatureVariationPerMeter = totalAbsoluteCurvatureVariationPerMeter;
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CurvatureVariationEnergy = curvatureVariationEnergy;
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MinimumBodyClearanceMeters = minimumBodyClearanceMeters;
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LengthChangePercent = lengthChangePercent;
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PeakCurvatureChangePercent = peakCurvatureChangePercent;
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CurvatureVariationChangePercent = curvatureVariationChangePercent;
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MinimumClearanceChangeMeters = minimumClearanceChangeMeters;
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}
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/// <summary>该路径是否通过完整安全和运动学复核。</summary>
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public bool IsFeasible { get; }
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/// <summary>路径总弧长，单位 m。</summary>
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public double PathLengthMeters { get; }
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/// <summary>绝对车辆曲率峰值，单位 1/m。</summary>
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public double MaximumAbsoluteVehicleCurvaturePerMeter { get; }
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/// <summary>绝对车辆曲率导数峰值，单位 1/m²。</summary>
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public double MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter { get; }
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/// <summary>车辆曲率均方根，单位 1/m。</summary>
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public double RootMeanSquareVehicleCurvaturePerMeter { get; }
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/// <summary>逐方向段累加的绝对曲率变化，单位 1/m。</summary>
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public double TotalAbsoluteCurvatureVariationPerMeter { get; }
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/// <summary>逐方向段计算的曲率变化能量。</summary>
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public double CurvatureVariationEnergy { get; }
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/// <summary>曲率变化代价的兼容名称。</summary>
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public double CurvatureVariationCost => CurvatureVariationEnergy;
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/// <summary>完整扩大车体的最小保守净空，单位 m。</summary>
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public double MinimumBodyClearanceMeters { get; }
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/// <summary>相对原始粗路径的长度变化百分比。</summary>
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public double LengthChangePercent { get; }
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/// <summary>相对原始粗路径的峰值曲率变化百分比。</summary>
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public double PeakCurvatureChangePercent { get; }
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/// <summary>相对原始粗路径的曲率变化百分比。</summary>
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public double CurvatureVariationChangePercent { get; }
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/// <summary>相对原始粗路径的最小净空变化，单位 m。</summary>
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public double MinimumClearanceChangeMeters { get; }
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}
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