23 lines
932 B
C#
23 lines
932 B
C#
namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
|
|
|
|
public sealed class LateralConfiguration
|
|
{
|
|
public double MaximumLateralStepPerIterationMeters { get; set; }
|
|
public double MaximumLateralSlope { get; set; }
|
|
public double MaximumLateralSecondDerivativePerMeter { get; set; }
|
|
public double MaximumLateralThirdDerivativePerSquareMeter { get; set; }
|
|
public LateralWeights Weights { get; set; }
|
|
|
|
internal LateralConfiguration Copy()
|
|
{
|
|
return new LateralConfiguration
|
|
{
|
|
MaximumLateralStepPerIterationMeters = MaximumLateralStepPerIterationMeters,
|
|
MaximumLateralSlope = MaximumLateralSlope,
|
|
MaximumLateralSecondDerivativePerMeter = MaximumLateralSecondDerivativePerMeter,
|
|
MaximumLateralThirdDerivativePerSquareMeter = MaximumLateralThirdDerivativePerSquareMeter,
|
|
Weights = Weights == null ? null : Weights.Copy(),
|
|
};
|
|
}
|
|
}
|