42 lines
1.8 KiB
C#
42 lines
1.8 KiB
C#
using System;
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using System.Collections.Generic;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing;
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namespace EMPlannerVerificationHost;
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internal static class EmFixtureFactory
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{
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public static PathSmoothingResult CreateGearPairReferencePath()
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{
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var points = new List<SmoothedPathPoint>
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{
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Point(0d, 0d, TravelDirection.Forward, false, SmoothedPathPointSource.Anchor),
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Point(1d, 1d, TravelDirection.Forward, false, SmoothedPathPointSource.Anchor),
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Point(2d, 2d, TravelDirection.Forward, false, SmoothedPathPointSource.Anchor),
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Point(2d, 2d, TravelDirection.Reverse, true, SmoothedPathPointSource.GearSwitch),
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Point(1d, 3d, TravelDirection.Reverse, false, SmoothedPathPointSource.Anchor),
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Point(0d, 4d, TravelDirection.Reverse, false, SmoothedPathPointSource.Anchor),
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};
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var segments = new List<SmoothedPathSegment>
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{
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new SmoothedPathSegment(0, TravelDirection.Forward, 0, 2, false, true),
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new SmoothedPathSegment(1, TravelDirection.Reverse, 3, 5, true, false),
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};
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var metrics = new PathQualityMetrics(true, 4d, 0d, 0d, 0d, 0d, 1d, 0d, 0d, 0d, 0d, 0d);
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return PathSmoothingResult.PublishLocalG2(PathSmoothingStatus.Complete, points, segments,
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new PathSmoothingDiagnostics(metrics, TimeSpan.Zero), new List<PathSmoothingRegionReport>());
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}
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private static SmoothedPathPoint Point(
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double x,
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double arcLength,
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TravelDirection direction,
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bool isGearSwitchPoint,
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SmoothedPathPointSource source)
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{
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return new SmoothedPathPoint(x, 0d, 0d, 0d, arcLength, direction, 0d, 0d, 0d, 1d,
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isGearSwitchPoint, source);
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}
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}
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