60 lines
3.7 KiB
C#
60 lines
3.7 KiB
C#
using System;
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using MultiWheelC.TrajectoryPlanning.Utils;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.LocalG2;
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/// <summary>局部 G2 预平滑一次运行使用的已校验不可变选项。</summary>
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internal sealed class LocalG2OptionsSnapshot
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{
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/// <summary>从已配置的请求选项提取并校验一次局部 G2 平滑运行所需的不可变阈值。</summary>
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/// <param name="configuration">包含 <see cref="LocalG2QuinticOptions"/> 的路径平滑配置。</param>
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internal LocalG2OptionsSnapshot(PathSmoothingConfiguration configuration)
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{
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if (configuration == null) throw new ArgumentNullException(nameof(configuration));
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LocalG2QuinticOptions source = configuration.LocalG2Quintic;
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if (source == null) throw new ArgumentOutOfRangeException(nameof(configuration));
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MinimumWindowLengthMeters = source.MinimumWindowLengthMeters;
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PreferredWindowLengthMeters = source.PreferredWindowLengthMeters;
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MaximumWindowLengthMeters = source.MaximumWindowLengthMeters;
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MaximumDeviationMeters = source.MaximumDeviationMeters;
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AbsoluteCurvatureJumpFloorPerMeter = source.AbsoluteCurvatureJumpFloorPerMeter;
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CurvatureJumpRatioOfMaximum = source.CurvatureJumpRatioOfMaximum;
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MinimumPeakGradientImprovementRatio = source.MinimumPeakGradientImprovementRatio;
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MaximumVariationCostRegressionRatio = source.MaximumVariationCostRegressionRatio;
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MaximumCandidatesPerRegion = source.MaximumCandidatesPerRegion;
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if (!NumericGuard.IsPositiveFinite(MinimumWindowLengthMeters))
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throw new ArgumentOutOfRangeException(nameof(MinimumWindowLengthMeters));
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if (!NumericGuard.IsFinite(PreferredWindowLengthMeters) || PreferredWindowLengthMeters < MinimumWindowLengthMeters)
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throw new ArgumentOutOfRangeException(nameof(PreferredWindowLengthMeters));
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if (!NumericGuard.IsFinite(MaximumWindowLengthMeters) || MaximumWindowLengthMeters < PreferredWindowLengthMeters)
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throw new ArgumentOutOfRangeException(nameof(MaximumWindowLengthMeters));
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if (!NumericGuard.IsPositiveFinite(MaximumDeviationMeters))
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throw new ArgumentOutOfRangeException(nameof(MaximumDeviationMeters));
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if (!NumericGuard.IsPositiveFinite(AbsoluteCurvatureJumpFloorPerMeter))
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throw new ArgumentOutOfRangeException(nameof(AbsoluteCurvatureJumpFloorPerMeter));
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if (!NumericGuard.IsFinite(CurvatureJumpRatioOfMaximum) || CurvatureJumpRatioOfMaximum <= 0d || CurvatureJumpRatioOfMaximum > 1d)
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throw new ArgumentOutOfRangeException(nameof(CurvatureJumpRatioOfMaximum));
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if (!NumericGuard.IsFinite(MinimumPeakGradientImprovementRatio) ||
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MinimumPeakGradientImprovementRatio <= 0d || MinimumPeakGradientImprovementRatio >= 1d)
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{
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throw new ArgumentOutOfRangeException(nameof(MinimumPeakGradientImprovementRatio));
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}
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if (!NumericGuard.IsFinite(MaximumVariationCostRegressionRatio) || MaximumVariationCostRegressionRatio < 0d)
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throw new ArgumentOutOfRangeException(nameof(MaximumVariationCostRegressionRatio));
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if (MaximumCandidatesPerRegion < 1)
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throw new ArgumentOutOfRangeException(nameof(MaximumCandidatesPerRegion));
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}
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internal double MinimumWindowLengthMeters { get; }
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internal double PreferredWindowLengthMeters { get; }
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internal double MaximumWindowLengthMeters { get; }
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internal double MaximumDeviationMeters { get; }
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internal double AbsoluteCurvatureJumpFloorPerMeter { get; }
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internal double CurvatureJumpRatioOfMaximum { get; }
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internal double MinimumPeakGradientImprovementRatio { get; }
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internal double MaximumVariationCostRegressionRatio { get; }
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internal int MaximumCandidatesPerRegion { get; }
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}
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