69 lines
1.8 KiB
C#
69 lines
1.8 KiB
C#
// 使用SI单位；车体系X向前、Y向左、逆时针为正，XxxInYyy表示Xxx在Yyy坐标系中。
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namespace MyParking.Shared
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{
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// 二维坐标点，单位为m。
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public readonly struct Point2D
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{
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public Point2D(double xMeters, double yMeters)
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{
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XMeters = xMeters;
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YMeters = yMeters;
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}
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public double XMeters { get; }
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public double YMeters { get; }
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public static Point2D Zero => new Point2D(0.0, 0.0);
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}
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// 二维位姿，位置单位为m，航向单位为rad。
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public readonly struct Pose2D
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{
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public Pose2D(
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double xMeters,
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double yMeters,
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double yawRadians)
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{
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XMeters = xMeters;
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YMeters = yMeters;
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YawRadians = yawRadians;
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}
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public double XMeters { get; }
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public double YMeters { get; }
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public double YawRadians { get; }
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public Point2D Position =>
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new Point2D(XMeters, YMeters);
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public static Pose2D Identity =>
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new Pose2D(0.0, 0.0, 0.0);
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}
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// 二维刚体速度，线速度单位为m/s，角速度单位为rad/s。
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public readonly struct Twist2D
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{
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public Twist2D(
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double vxMetersPerSecond,
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double vyMetersPerSecond,
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double omegaRadiansPerSecond)
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{
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VxMetersPerSecond = vxMetersPerSecond;
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VyMetersPerSecond = vyMetersPerSecond;
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OmegaRadiansPerSecond = omegaRadiansPerSecond;
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}
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public double VxMetersPerSecond { get; }
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public double VyMetersPerSecond { get; }
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public double OmegaRadiansPerSecond { get; }
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public static Twist2D Zero =>
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new Twist2D(0.0, 0.0, 0.0);
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}
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}
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