54 lines
2.2 KiB
C#
54 lines
2.2 KiB
C#
using System.Collections.Generic;
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using System.Collections.ObjectModel;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
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/// <summary>路径平滑的公共配置；所有距离使用 m。</summary>
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public sealed class PathSmoothingConfiguration
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{
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/// <summary>创建带有安全默认值的平滑配置。</summary>
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public PathSmoothingConfiguration()
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{
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OutputSpacingMeters = 0.05d;
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MaximumCollisionCheckStepMeters = 0.025d;
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MinimumClearanceReserveMeters = 0.02d;
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SmoothingStrength = 1d;
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AllowFallbackToCoarsePath = true;
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RetryStrengthScales = new ReadOnlyCollection<double>(
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new List<double> { 1d, 0.75d, 0.50d, 0.25d });
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}
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/// <summary>正式单算法入口使用的方法。</summary>
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public SmoothingMethod Method { get; set; }
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/// <summary>输出路径的目标弧长采样间距，单位 m。</summary>
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public double OutputSpacingMeters { get; set; }
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/// <summary>扫掠碰撞检查的最大步长，单位 m。</summary>
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public double MaximumCollisionCheckStepMeters { get; set; }
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/// <summary>平滑候选必须在最小净空之外保留的额外余量，单位 m。</summary>
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public double MinimumClearanceReserveMeters { get; set; }
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/// <summary>算法初始平滑强度。</summary>
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public double SmoothingStrength { get; set; }
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/// <summary>所有平滑尝试失败时是否允许发布经过复核的原粗路径。</summary>
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public bool AllowFallbackToCoarsePath { get; set; }
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/// <summary>有限且严格递减的平滑强度重试比例。</summary>
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public IReadOnlyList<double> RetryStrengthScales { get; }
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/// <summary>三次 B 样条专用参数。</summary>
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public CubicBSplineOptions CubicBSpline { get; } = new CubicBSplineOptions();
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/// <summary>局部三次 Bézier 专用参数。</summary>
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public LocalCubicBezierOptions LocalCubicBezier { get; } = new LocalCubicBezierOptions();
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/// <summary>分段五次多项式专用参数。</summary>
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public PiecewiseQuinticOptions PiecewiseQuintic { get; } = new PiecewiseQuinticOptions();
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/// <summary>局部 G2 五次过渡专用参数。</summary>
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public LocalG2QuinticOptions LocalG2Quintic { get; } = new LocalG2QuinticOptions();
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}
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