51 lines
1.9 KiB
C#
51 lines
1.9 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 MultiWheelC.TrajectoryPlanning.CoarsePath;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
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/// <summary>已校验、已按单一行驶方向分割并重采样的路径段。</summary>
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public sealed class PreparedDirectionSegment
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{
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/// <summary>创建不可变方向段。</summary>
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public PreparedDirectionSegment(
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int segmentIndex,
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TravelDirection direction,
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IReadOnlyList<SmoothingPoint2D> points,
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bool startsAtGearSwitch,
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bool endsAtGearSwitch)
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{
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if (segmentIndex < 0) throw new ArgumentOutOfRangeException(nameof(segmentIndex));
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if (points == null || points.Count == 0) throw new ArgumentException("A prepared segment requires points.", nameof(points));
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SegmentIndex = segmentIndex;
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Direction = direction;
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Points = CopyReadOnly(points);
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StartsAtGearSwitch = startsAtGearSwitch;
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EndsAtGearSwitch = endsAtGearSwitch;
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}
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/// <summary>从零开始的分段序号；在 <see cref="PreparedPath.Segments"/> 中必须与其位置一致。</summary>
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public int SegmentIndex { get; }
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/// <summary>该段的唯一行驶方向。</summary>
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public TravelDirection Direction { get; }
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/// <summary>不包含相邻段点的本段不可变采样点。</summary>
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public IReadOnlyList<SmoothingPoint2D> Points { get; }
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/// <summary>本段首点是否为换向后保留的新方向点。</summary>
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public bool StartsAtGearSwitch { get; }
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/// <summary>本段末点之后是否紧邻换向点。</summary>
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public bool EndsAtGearSwitch { 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.Count);
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for (int index = 0; index < source.Count; index++) copy.Add(source[index]);
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return new ReadOnlyCollection<T>(copy);
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}
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}
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