30 lines
1.0 KiB
C#
30 lines
1.0 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.Collections.ObjectModel;
|
|
|
|
namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
|
|
|
|
/// <summary>Immutable reconstructed lateral path, marked only after independent validation.</summary>
|
|
public sealed class LateralPath
|
|
{
|
|
public LateralPath(IReadOnlyList<LateralPathPoint> points, bool independentlyValidated)
|
|
{
|
|
if (points == null)
|
|
throw new ArgumentNullException(nameof(points));
|
|
|
|
var copy = new List<LateralPathPoint>(points.Count);
|
|
for (int index = 0; index < points.Count; index++)
|
|
{
|
|
if (points[index] == null)
|
|
throw new ArgumentException("Lateral path points cannot contain null values.", nameof(points));
|
|
copy.Add(points[index]);
|
|
}
|
|
Points = new ReadOnlyCollection<LateralPathPoint>(copy);
|
|
IsIndependentlyValidated = independentlyValidated;
|
|
}
|
|
|
|
public IReadOnlyList<LateralPathPoint> Points { get; }
|
|
|
|
public bool IsIndependentlyValidated { get; }
|
|
}
|