35 lines
1.6 KiB
C#
35 lines
1.6 KiB
C#
namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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public sealed class SchedulingConfiguration
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{
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public double ReplanPeriodSeconds { get; set; }
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public double TimeHorizonSeconds { get; set; }
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public double DistanceHorizonMeters { get; set; }
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public double OutputTimeStepSeconds { get; set; }
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public double SolverTimeoutSeconds { get; set; }
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public double HandoffLookaheadSeconds { get; set; }
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public double MaximumVehicleStateAgeSeconds { get; set; }
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public double MaximumOptimizationTimeStepSeconds { get; set; }
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public double MaximumOptimizationSpatialStepMeters { get; set; }
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public int MaximumOptimizationKnotCount { get; set; }
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public int MaximumPublishedSampleCount { get; set; }
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internal SchedulingConfiguration Copy()
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{
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return new SchedulingConfiguration
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{
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ReplanPeriodSeconds = ReplanPeriodSeconds,
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TimeHorizonSeconds = TimeHorizonSeconds,
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DistanceHorizonMeters = DistanceHorizonMeters,
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OutputTimeStepSeconds = OutputTimeStepSeconds,
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SolverTimeoutSeconds = SolverTimeoutSeconds,
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HandoffLookaheadSeconds = HandoffLookaheadSeconds,
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MaximumVehicleStateAgeSeconds = MaximumVehicleStateAgeSeconds,
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MaximumOptimizationTimeStepSeconds = MaximumOptimizationTimeStepSeconds,
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MaximumOptimizationSpatialStepMeters = MaximumOptimizationSpatialStepMeters,
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MaximumOptimizationKnotCount = MaximumOptimizationKnotCount,
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MaximumPublishedSampleCount = MaximumPublishedSampleCount,
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};
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}
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}
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