59 lines
2.0 KiB
C#
59 lines
2.0 KiB
C#
using System;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.Mapping;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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public sealed class EmPlanningRequest
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{
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public EmPlanningRequest(
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PathSmoothingResult referencePath,
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PlanningGridMap map,
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VehicleParameters vehicle,
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VehicleMotionState vehicleState,
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EmPlannerConfiguration configuration,
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int segmentIndex,
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EmTrajectory previousTrajectory,
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DateTimeOffset requestedAtUtc,
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DateTimeOffset effectiveAtUtc,
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string outputTrajectoryId,
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string referencePathId,
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string previousTrajectoryId,
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EmMotionModel motionModel)
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{
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ReferencePath = referencePath;
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Map = map;
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Vehicle = vehicle;
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VehicleState = vehicleState;
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Configuration = configuration;
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SegmentIndex = segmentIndex;
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PreviousTrajectory = previousTrajectory;
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RequestedAtUtc = requestedAtUtc;
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EffectiveAtUtc = effectiveAtUtc;
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OutputTrajectoryId = outputTrajectoryId;
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ReferencePathId = referencePathId;
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PreviousTrajectoryId = previousTrajectoryId;
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MotionModel = motionModel;
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}
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public PathSmoothingResult ReferencePath { get; }
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public PlanningGridMap Map { get; }
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public VehicleParameters Vehicle { get; }
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public VehicleMotionState VehicleState { get; }
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public EmPlannerConfiguration Configuration { get; }
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public int SegmentIndex { get; }
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public EmTrajectory PreviousTrajectory { get; }
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public DateTimeOffset RequestedAtUtc { get; }
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public DateTimeOffset EffectiveAtUtc { get; }
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public string OutputTrajectoryId { get; }
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public string ReferencePathId { get; }
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public string PreviousTrajectoryId { get; }
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public EmMotionModel MotionModel { get; }
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}
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// The request owns this DTO contract; Task 2 adds its request-bound settings.
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public sealed partial class EmPlannerConfiguration
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{
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}
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