파일정리

AGVLogic/AGVNavigationCore/PathFinding/Planning/DirectionChangePlanner.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using AGVNavigationCore.Models;
+using AGVNavigationCore.PathFinding.Core;
+using AGVNavigationCore.PathFinding.Analysis;
+using AGVNavigationCore.PathFinding.Validation;
+
+namespace AGVNavigationCore.PathFinding.Planning
+{
+    /// <summary>
+    /// AGV 방향 전환 경로 계획 시스템
+    /// 물리적 제약사항을 고려한 방향 전환 경로 생성
+    /// </summary>
+    public class DirectionChangePlanner
+    {
+        /// <summary>
+        /// 방향 전환 계획 결과
+        /// </summary>
+        public class DirectionChangePlan
+        {
+            public bool Success { get; set; }
+            public List<MapNode> DirectionChangePath { get; set; }
+            public string DirectionChangeNode { get; set; }
+            public string ErrorMessage { get; set; }
+            public string PlanDescription { get; set; }
+
+            public DirectionChangePlan()
+            {
+                DirectionChangePath = new List<MapNode>();
+                ErrorMessage = string.Empty;
+                PlanDescription = string.Empty;
+            }
+
+            public static DirectionChangePlan CreateSuccess(List<MapNode> path, string changeNode, string description)
+            {
+                return new DirectionChangePlan
+                {
+                    Success = true,
+                    DirectionChangePath = path,
+                    DirectionChangeNode = changeNode,
+                    PlanDescription = description
+                };
+            }
+
+            public static DirectionChangePlan CreateFailure(string error)
+            {
+                return new DirectionChangePlan
+                {
+                    Success = false,
+                    ErrorMessage = error
+                };
+            }
+        }
+
+        private readonly List<MapNode> _mapNodes;
+        private readonly JunctionAnalyzer _junctionAnalyzer;
+        private readonly AStarPathfinder _pathfinder;
+
+        public DirectionChangePlanner(List<MapNode> mapNodes)
+        {
+            _mapNodes = mapNodes ?? new List<MapNode>();
+            _junctionAnalyzer = new JunctionAnalyzer(_mapNodes);
+            _pathfinder = new AStarPathfinder();
+            _pathfinder.SetMapNodes(_mapNodes);
+        }
+
+
+
+    }
+}