52 lines
1.8 KiB
C#
52 lines
1.8 KiB
C#
using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.Mapping;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
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/// <summary>路径平滑所需的原始粗路径、复核上下文和配置。</summary>
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public sealed class PathSmoothingRequest
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{
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/// <summary>创建路径平滑请求，并复制粗路径和方向分段集合。</summary>
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public PathSmoothingRequest(
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IReadOnlyList<CoarsePathPoint> coarsePath,
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IReadOnlyList<PathSegment> segments,
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PlanningGridMap map,
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VehicleParameters vehicle,
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PathSmoothingConfiguration configuration)
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{
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CoarsePath = CopyReadOnly(coarsePath);
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Segments = CopyReadOnly(segments);
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Map = map;
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Vehicle = vehicle;
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Configuration = configuration;
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}
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/// <summary>原始粗路径的不可变快照。</summary>
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public IReadOnlyList<CoarsePathPoint> CoarsePath { get; }
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/// <summary>原始粗路径方向分段的不可变快照。</summary>
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public IReadOnlyList<PathSegment> Segments { get; }
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/// <summary>用于平滑后完整车体复核的规划栅格地图。</summary>
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public PlanningGridMap Map { get; }
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/// <summary>车辆几何与最大曲率约束。</summary>
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public VehicleParameters Vehicle { get; }
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/// <summary>本次平滑的配置。</summary>
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public PathSmoothingConfiguration Configuration { get; }
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private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)
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{
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var copy = new List<T>(source == null ? 0 : source.Count);
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if (source != null)
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{
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for (int index = 0; index < source.Count; index++)
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copy.Add(source[index]);
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}
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return new ReadOnlyCollection<T>(copy);
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}
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}
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