34 lines
4.0 KiB
C#
34 lines
4.0 KiB
C#
using System;
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using System.Collections.Generic;
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using MultiWheelC.TrajectoryPlanning.EMPlanner;
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using TrajectoryPlanningVisualization;
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namespace MultiWheelC.TrajectoryPlanning.TrajectoryObservation;
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public sealed class TrajectoryObservationKinematicChartBuilder
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{
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public IReadOnlyList<VisualizationChart> Build(EmTrajectory trajectory, DirectionSegmentView segment,
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EmPlannerConfiguration configuration)
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{
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if (trajectory == null) throw new ArgumentNullException(nameof(trajectory));
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if (segment == null) throw new ArgumentNullException(nameof(segment));
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if (configuration == null) throw new ArgumentNullException(nameof(configuration));
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return new[]
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{
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Chart("ls", "横向偏移", "ReferenceS (m)", "l (m)", Ls(trajectory, segment), ""),
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Chart("st", "时空轨迹", "t (s)", "PathS (m)", Points(trajectory, p => p.PathS), ""),
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Chart("curvature-s", "曲率-距离", "s (m)", "κ (m⁻¹)", Points(trajectory, p => p.VehicleCurvature), ""),
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Chart("curvature-t", "曲率-时间", "t (s)", "κ (m⁻¹)", Points(trajectory, p => p.VehicleCurvature), ""),
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WithLimit("velocity-t", "速度", "t (s)", "v (m/s)", Points(trajectory, p => p.SignedLongitudinalVelocity), configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond),
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WithLimit("acceleration-t", "加速度", "t (s)", "a (m/s²)", Points(trajectory, p => p.LongitudinalAcceleration), configuration.Longitudinal.MaximumAccelerationMetersPerSecondSquared),
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Jerk(trajectory, configuration),
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Chart("yaw-rate-t", "横摆角速度", "t (s)", "yaw rate (rad/s)", Points(trajectory, p => p.YawRate), "无独立横摆角速度上限")
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};
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}
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private static VisualizationChart WithLimit(string id, string title, string x, string y, IReadOnlyList<VisualizationPoint> points, double limit) => new VisualizationChart(id, title, x, y, new[] { new VisualizationSeries(id + "-current", "当前轨迹", VisualizationLineStyle.Solid, points), new VisualizationSeries(id + "-limit", "生效限制", VisualizationLineStyle.Limit, new[] { new VisualizationPoint(0d, limit), new VisualizationPoint(points[points.Count - 1].X, limit) }) });
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private static VisualizationChart Jerk(EmTrajectory trajectory, EmPlannerConfiguration configuration) { var p = new List<VisualizationPoint>(); for (int i=0;i+1<trajectory.Points.Count;i++) p.Add(new VisualizationPoint(trajectory.Points[i].TimeFromStart, trajectory.Points[i].LongitudinalJerk)); return new VisualizationChart("jerk-t", "加加速度", "t (s)", "j (m/s³)", new[] { new VisualizationSeries("jerk-t-current", "当前轨迹", VisualizationLineStyle.Solid, p), new VisualizationSeries("jerk-t-limit", "生效限制", VisualizationLineStyle.Limit, new[] { new VisualizationPoint(0d, configuration.Longitudinal.MaximumJerkMetersPerSecondCubed), new VisualizationPoint(p.Count == 0 ? 0d : p[p.Count-1].X, configuration.Longitudinal.MaximumJerkMetersPerSecondCubed) }) }, "末点后无时间区间"); }
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private static VisualizationChart Chart(string id,string title,string x,string y,IReadOnlyList<VisualizationPoint> points,string note) => new VisualizationChart(id,title,x,y,new[] { new VisualizationSeries(id+"-current","当前轨迹",VisualizationLineStyle.Solid,points) },note);
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private static IReadOnlyList<VisualizationPoint> Points(EmTrajectory t, Func<EmTrajectoryPoint,double> y) { var r=new List<VisualizationPoint>(); foreach(var p in t.Points) r.Add(new VisualizationPoint(p.TimeFromStart,y(p))); return r; }
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private static IReadOnlyList<VisualizationPoint> Ls(EmTrajectory t, DirectionSegmentView s) { var r=new List<VisualizationPoint>(); var projector=new FrenetProjector(); double seed=0d; foreach(var p in t.Points) if(projector.TryProject(new CoarsePath.Pose2D(p.X,p.Y,p.Yaw),s,0d,s.LengthMeters,0.5d,seed,out FrenetProjection projection)) { r.Add(new VisualizationPoint(s.SourceStartArcLength+projection.ReferenceS,projection.LateralOffset)); seed=projection.ReferenceS; } return r; }
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}
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