81 lines
2.8 KiB
C#
81 lines
2.8 KiB
C#
using System;
|
|
|
|
namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
|
|
|
|
/// <summary>一次平滑尝试的不可变诊断信息。</summary>
|
|
public sealed class PathSmoothingDiagnostics
|
|
{
|
|
/// <summary>创建不含路径指标的默认诊断信息。</summary>
|
|
public PathSmoothingDiagnostics()
|
|
: this(new PathQualityMetrics(), TimeSpan.Zero, 0, 0d, string.Empty)
|
|
{
|
|
}
|
|
|
|
/// <summary>创建完整的平滑诊断快照。</summary>
|
|
public PathSmoothingDiagnostics(
|
|
PathQualityMetrics metrics,
|
|
TimeSpan elapsed,
|
|
int retryCount,
|
|
double acceptedStrength,
|
|
string terminationReason = null)
|
|
{
|
|
Metrics = metrics ?? new PathQualityMetrics();
|
|
Elapsed = elapsed;
|
|
RetryCount = retryCount;
|
|
AcceptedStrength = acceptedStrength;
|
|
TerminationReason = terminationReason ?? string.Empty;
|
|
}
|
|
|
|
/// <summary>使用所有测量量创建平滑诊断快照。</summary>
|
|
public PathSmoothingDiagnostics(
|
|
bool isFeasible,
|
|
double pathLengthMeters,
|
|
double maximumAbsoluteVehicleCurvaturePerMeter,
|
|
double rootMeanSquareVehicleCurvaturePerMeter,
|
|
double totalAbsoluteCurvatureVariationPerMeter,
|
|
double curvatureVariationEnergy,
|
|
double minimumBodyClearanceMeters,
|
|
double lengthChangePercent,
|
|
double peakCurvatureChangePercent,
|
|
double curvatureVariationChangePercent,
|
|
double minimumClearanceChangeMeters,
|
|
TimeSpan elapsed,
|
|
int retryCount,
|
|
double acceptedStrength,
|
|
string terminationReason = null)
|
|
: this(
|
|
new PathQualityMetrics(
|
|
isFeasible,
|
|
pathLengthMeters,
|
|
maximumAbsoluteVehicleCurvaturePerMeter,
|
|
rootMeanSquareVehicleCurvaturePerMeter,
|
|
totalAbsoluteCurvatureVariationPerMeter,
|
|
curvatureVariationEnergy,
|
|
minimumBodyClearanceMeters,
|
|
lengthChangePercent,
|
|
peakCurvatureChangePercent,
|
|
curvatureVariationChangePercent,
|
|
minimumClearanceChangeMeters),
|
|
elapsed,
|
|
retryCount,
|
|
acceptedStrength,
|
|
terminationReason)
|
|
{
|
|
}
|
|
|
|
/// <summary>路径质量指标；始终非空。</summary>
|
|
public PathQualityMetrics Metrics { get; }
|
|
|
|
/// <summary>从算法入口到返回诊断的耗时。</summary>
|
|
public TimeSpan Elapsed { get; }
|
|
|
|
/// <summary>已执行的安全强度重试次数。</summary>
|
|
public int RetryCount { get; }
|
|
|
|
/// <summary>通过复核的平滑强度；未接受候选时为零。</summary>
|
|
public double AcceptedStrength { get; }
|
|
|
|
/// <summary>面向调用方的稳定终止说明。</summary>
|
|
public string TerminationReason { get; }
|
|
}
|