54 lines
1.8 KiB
C#
54 lines
1.8 KiB
C#
using System;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
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/// <summary>供平滑算法处理的二维路径采样点；所有长度单位均为 m，航向单位为 rad。</summary>
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public sealed class SmoothingPoint2D
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{
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/// <summary>创建不可变二维路径点。</summary>
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public SmoothingPoint2D(
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double xMeters,
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double yMeters,
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double arcLengthMeters,
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double headingRadians,
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double unwrappedHeadingRadians,
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double bodyClearanceMeters,
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bool isGearSwitchPoint,
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SmoothedPathPointSource source)
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{
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X = xMeters;
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Y = yMeters;
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ArcLength = arcLengthMeters;
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Heading = headingRadians;
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UnwrappedHeading = unwrappedHeadingRadians;
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BodyClearance = bodyClearanceMeters;
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IsGearSwitchPoint = isGearSwitchPoint;
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Source = source;
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}
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/// <summary>世界 X 坐标，单位 m。</summary>
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public double X { get; }
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/// <summary>世界 Y 坐标，单位 m。</summary>
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public double Y { get; }
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/// <summary>本方向段中的累计弧长，单位 m。</summary>
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public double ArcLength { get; }
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/// <summary>归一化的车辆航向，单位 rad。</summary>
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public double Heading { get; }
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/// <summary>连续展开的车辆航向，单位 rad。</summary>
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public double UnwrappedHeading { get; }
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/// <summary>输入路径携带的保守净空，单位 m。</summary>
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public double BodyClearance { get; }
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/// <summary>该点是否为新方向段开始处的换向点。</summary>
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public bool IsGearSwitchPoint { get; }
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/// <summary>该点在平滑流程中的来源。</summary>
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public SmoothedPathPointSource Source { get; }
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}
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