40 lines
1.3 KiB
C#
40 lines
1.3 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Threading;
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using MultiWheelC.TrajectoryPlanning.EMPlanner;
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namespace EMPlannerVerificationHost;
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internal sealed class FakeQpSolver : IQpSolver
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{
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private readonly QpSolveResult _result;
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public FakeQpSolver(QpSolveResult result)
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{
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_result = result ?? throw new ArgumentNullException(nameof(result));
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LastWarmStart = Array.Empty<double>();
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}
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public QuadraticProgram? LastProblem { get; private set; }
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public QpSolverSettings? LastSettings { get; private set; }
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public IReadOnlyList<double> LastWarmStart { get; private set; }
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public QpSolveResult Solve(QuadraticProgram problem, QpSolverSettings settings, IReadOnlyList<double> warmStart,
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CancellationToken cancellationToken)
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{
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LastProblem = problem ?? throw new ArgumentNullException(nameof(problem));
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LastSettings = settings ?? throw new ArgumentNullException(nameof(settings));
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var copy = new List<double>(warmStart == null ? 0 : warmStart.Count);
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if (warmStart != null)
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{
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for (int index = 0; index < warmStart.Count; index++)
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copy.Add(warmStart[index]);
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}
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LastWarmStart = new ReadOnlyCollection<double>(copy);
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return _result;
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}
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}
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