84 lines
3.6 KiB
C#
84 lines
3.6 KiB
C#
using System;
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namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
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/// <summary>
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/// Hybrid A* 粗路径搜索的可调配置。
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/// 长度和距离使用 m，航向使用 rad，曲率使用 1/m；各项有效范围由规划器在执行前校验。
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/// </summary>
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public sealed class HybridAStarConfiguration
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{
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/// <summary>创建采用 P0 固定安全边界和代价权重的默认配置。</summary>
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public HybridAStarConfiguration()
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{
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PrimitiveLengthMeters = 0.50d;
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IntegrationStepMeters = 0.05d;
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MaximumCollisionCheckStepMeters = 0.025d;
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HeadingResolutionRadians = Math.PI / 36d;
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CurvatureLevelCount = 5;
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GoalPositionToleranceMeters = 0.15d;
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GoalHeadingToleranceRadians = Math.PI / 36d;
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MaximumExpandedNodes = 200000;
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SearchTimeout = TimeSpan.FromSeconds(5d);
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HeuristicWeight = 1d;
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ReverseCostMultiplier = 1.5d;
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GearSwitchPenaltyMeters = 1d;
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CurvatureMagnitudeWeight = 0.10d;
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CurvatureChangePenaltyMetersPerLevel = 0.05d;
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ClearanceCostWeight = 0.20d;
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ClearanceCostDistanceMeters = 0.50d;
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AllowReverse = true;
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}
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/// <summary>单个恒曲率原语的最大行驶长度，单位 m。</summary>
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public double PrimitiveLengthMeters { get; set; }
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/// <summary>原语内部输出积分点之间允许的最大弧长，单位 m。</summary>
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public double IntegrationStepMeters { get; set; }
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/// <summary>连续碰撞检查允许的最大车辆中心位移，单位 m；实际值还受地图分辨率限制。</summary>
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public double MaximumCollisionCheckStepMeters { get; set; }
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/// <summary>搜索状态离散所使用的航向格宽，单位 rad。</summary>
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public double HeadingResolutionRadians { get; set; }
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/// <summary>从最大负曲率到最大正曲率的离散曲率等级数。</summary>
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public int CurvatureLevelCount { get; set; }
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/// <summary>终点位置允许的欧氏距离误差，单位 m。</summary>
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public double GoalPositionToleranceMeters { get; set; }
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/// <summary>终点车头航向允许的最小环形角度误差，单位 rad。</summary>
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public double GoalHeadingToleranceRadians { get; set; }
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/// <summary>单次搜索允许扩展的最大节点数。</summary>
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public int MaximumExpandedNodes { get; set; }
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/// <summary>单次搜索允许消耗的最长时间；超出后返回 <see cref="PlanningStatus.SearchTimeout"/>。</summary>
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public TimeSpan SearchTimeout { get; set; }
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/// <summary>二维绕障启发式的权重；1 表示不额外放大。</summary>
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public double HeuristicWeight { get; set; }
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/// <summary>倒车原语长度代价相对前进原语的倍率。</summary>
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public double ReverseCostMultiplier { get; set; }
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/// <summary>相邻原语发生换向时增加的等效距离代价，单位 m。</summary>
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public double GearSwitchPenaltyMeters { get; set; }
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/// <summary>曲率绝对值对应的无量纲代价权重。</summary>
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public double CurvatureMagnitudeWeight { get; set; }
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/// <summary>相邻曲率等级每变化一级增加的等效距离代价，单位 m。</summary>
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public double CurvatureChangePenaltyMetersPerLevel { get; set; }
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/// <summary>车体保守净空不足时增加的无量纲代价权重。</summary>
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public double ClearanceCostWeight { get; set; }
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/// <summary>计算净空代价时视为足够安全的车体保守净空，单位 m。</summary>
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public double ClearanceCostDistanceMeters { get; set; }
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/// <summary>是否允许生成倒车原语；false 时搜索只生成前进原语。</summary>
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public bool AllowReverse { get; set; }
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}
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