39 lines
1.5 KiB
C#
39 lines
1.5 KiB
C#
using System;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>不耦合控制器或硬件的不可变轨迹执行状态，组合选中点和换向状态机的安全语义。</summary>
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public sealed class TrajectoryExecutionState
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{
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internal TrajectoryExecutionState(EmTrajectoryPoint selectedPoint, GearSwitchStateUpdate gearSwitchUpdate)
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{
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SelectedPoint = selectedPoint ?? throw new ArgumentNullException(nameof(selectedPoint));
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if (gearSwitchUpdate == null)
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throw new ArgumentNullException(nameof(gearSwitchUpdate));
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GearSwitchState = gearSwitchUpdate.State;
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HoldZero = gearSwitchUpdate.HoldZero;
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RequestDirectionChange = gearSwitchUpdate.RequestDirectionChange;
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AllowsTrajectoryMotion = gearSwitchUpdate.AllowsTrajectoryMotion;
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IsTrajectoryComplete = gearSwitchUpdate.IsTrajectoryComplete;
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Reason = gearSwitchUpdate.Reason;
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}
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/// <summary>按调用方时刻选中或插值得到的轨迹点；位置为 m、航向为 rad、速度为 m/s。</summary>
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public EmTrajectoryPoint SelectedPoint { get; }
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public GearSwitchState GearSwitchState { get; }
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/// <summary>是否要求保持零速度和零 yaw rate。</summary>
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public bool HoldZero { get; }
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public bool RequestDirectionChange { get; }
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/// <summary>状态机是否允许跟随选中点的非零轨迹运动。</summary>
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public bool AllowsTrajectoryMotion { get; }
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public bool IsTrajectoryComplete { get; }
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public string Reason { get; }
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}
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