29 lines
961 B
C#
29 lines
961 B
C#
namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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public sealed class LateralWeights
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{
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public double ReferenceOffset { get; set; }
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public double HeadingDeviation { get; set; }
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public double SecondDerivative { get; set; }
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public double ThirdDerivative { get; set; }
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public double Curvature { get; set; }
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public double CurvatureVariation { get; set; }
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public double PreviousTrajectory { get; set; }
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public double RollingTerminal { get; set; }
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internal LateralWeights Copy()
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{
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return new LateralWeights
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{
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ReferenceOffset = ReferenceOffset,
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HeadingDeviation = HeadingDeviation,
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SecondDerivative = SecondDerivative,
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ThirdDerivative = ThirdDerivative,
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Curvature = Curvature,
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CurvatureVariation = CurvatureVariation,
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PreviousTrajectory = PreviousTrajectory,
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RollingTerminal = RollingTerminal,
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};
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}
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}
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