ENIG/Cs_HMI/AGVNavigationCore/PathFinding/PathfindingOptions.cs

using System;

namespace AGVNavigationCore.PathFinding
{
    /// <summary>
    /// 경로 탐색 옵션 설정
    /// </summary>
    public class PathfindingOptions
    {
        /// <summary>
        /// 회전 가능 노드 회피 여부 (기본값: false - 회전 허용)
        /// </summary>
        public bool AvoidRotationNodes { get; set; } = false;

        /// <summary>
        /// 회전 회피 시 추가 비용 가중치 (회전 노드를 완전 차단하지 않고 높은 비용으로 설정)
        /// </summary>
        public float RotationAvoidanceCost { get; set; } = 1000.0f;

        /// <summary>
        /// 회전 비용 가중치 (기존 회전 비용)
        /// </summary>
        public float RotationCostWeight { get; set; } = 50.0f;

        /// <summary>
        /// 도킹 접근 거리
        /// </summary>
        public float DockingApproachDistance { get; set; } = 100.0f;

        /// <summary>
        /// 기본 옵션 생성
        /// </summary>
        public static PathfindingOptions Default => new PathfindingOptions();

        /// <summary>
        /// 회전 회피 옵션 생성
        /// </summary>
        public static PathfindingOptions AvoidRotation => new PathfindingOptions
        {
            AvoidRotationNodes = true
        };

        /// <summary>
        /// 옵션 복사
        /// </summary>
        public PathfindingOptions Clone()
        {
            return new PathfindingOptions
            {
                AvoidRotationNodes = this.AvoidRotationNodes,
                RotationAvoidanceCost = this.RotationAvoidanceCost,
                RotationCostWeight = this.RotationCostWeight,
                DockingApproachDistance = this.DockingApproachDistance
            };
        }

        /// <summary>
        /// 설정 정보 문자열
        /// </summary>
        public override string ToString()
        {
            return $"회전회피: {(AvoidRotationNodes ? "ON" : "OFF")}, " +
                   $"회전비용: {RotationCostWeight}, " +
                   $"회피비용: {RotationAvoidanceCost}";
        }
    }
}