91 lines
4.0 KiB
C#
91 lines
4.0 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Comparison;
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/// <summary>一个方法的固定五次计时样本和确定性结论。</summary>
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public sealed class SmoothingTimingSummary
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{
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/// <summary>创建一个只接受五个已测量样本的计时汇总。</summary>
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public SmoothingTimingSummary(
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IReadOnlyList<double> measuredElapsedMilliseconds,
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bool isDeterministic,
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string diagnostic)
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{
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if (measuredElapsedMilliseconds == null || measuredElapsedMilliseconds.Count != 5)
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throw new ArgumentException("计时汇总必须包含五个已测量样本。", nameof(measuredElapsedMilliseconds));
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var copy = new List<double>(measuredElapsedMilliseconds.Count);
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for (int index = 0; index < measuredElapsedMilliseconds.Count; index++)
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{
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double value = measuredElapsedMilliseconds[index];
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if (double.IsNaN(value) || double.IsInfinity(value) || value < 0d)
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throw new ArgumentOutOfRangeException(nameof(measuredElapsedMilliseconds), "计时样本必须为有限非负数。");
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copy.Add(value);
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}
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MeasuredElapsedMilliseconds = new ReadOnlyCollection<double>(copy);
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MedianElapsedMilliseconds = Median(copy);
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IsDeterministic = isDeterministic;
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Diagnostic = diagnostic ?? string.Empty;
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}
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/// <summary>不含预热执行的五个实测耗时，单位 ms。</summary>
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public IReadOnlyList<double> MeasuredElapsedMilliseconds { get; }
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/// <summary>五个实测耗时的稳定中位数，单位 ms。</summary>
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public double MedianElapsedMilliseconds { get; }
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/// <summary>五次输出是否具有相同的状态和稳定几何摘要。</summary>
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public bool IsDeterministic { get; }
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/// <summary>非确定性或测量失败的稳定诊断说明。</summary>
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public string Diagnostic { get; }
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/// <summary>从五次测量结果中生成计时汇总，并拒绝状态或几何不稳定的输出。</summary>
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public static SmoothingTimingSummary FromMeasurements(
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IReadOnlyList<double> measuredElapsedMilliseconds,
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IReadOnlyList<PathSmoothingResult> measuredResults)
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{
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if (measuredResults == null || measuredResults.Count != 5)
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throw new ArgumentException("确定性检查必须包含五个测量结果。", nameof(measuredResults));
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for (int index = 0; index < measuredResults.Count; index++)
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{
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if (measuredResults[index] == null)
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throw new ArgumentException("确定性检查不能包含空测量结果。", nameof(measuredResults));
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}
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PathSmoothingResult canonical = measuredResults[0];
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string canonicalDigest = StableGeometryDigest.Compute(canonical);
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for (int index = 1; index < measuredResults.Count; index++)
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{
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PathSmoothingResult measured = measuredResults[index];
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string digest = StableGeometryDigest.Compute(measured);
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if (measured.Status != canonical.Status ||
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measured.Path.Count != canonical.Path.Count ||
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measured.Segments.Count != canonical.Segments.Count ||
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!string.Equals(digest, canonicalDigest, StringComparison.Ordinal))
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{
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return new SmoothingTimingSummary(
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measuredElapsedMilliseconds,
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false,
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"五次测量的状态、点数、分段数或稳定几何摘要不一致。");
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}
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}
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return new SmoothingTimingSummary(measuredElapsedMilliseconds, true, string.Empty);
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}
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internal static double Median(IReadOnlyList<double> values)
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{
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var sorted = new double[values.Count];
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for (int index = 0; index < values.Count; index++) sorted[index] = values[index];
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Array.Sort(sorted);
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int middle = sorted.Length / 2;
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return sorted.Length % 2 == 1
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? sorted[middle]
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: (sorted[middle - 1] + sorted[middle]) / 2d;
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}
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}
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