fix: harden Local G2 stabilization regressions

ClumsyPilot/tests/verify_path_smoothing_geometry.ps1

@@ -133,10 +133,12 @@ function New-CoarsePathPoint(
     [double]$ArcLength,
     $Direction,
     [bool]$IsGearSwitch = $false,
-    [string]$SourceName = 'MotionPrimitive') {
+    [string]$SourceName = 'MotionPrimitive',
+    [double]$Heading = 0.0,
+    [double]$VehicleCurvature = 0.0) {
     return [Activator]::CreateInstance($coarsePointType, @(
-        $X, $Y, [double]0.0, [double]0.0, $ArcLength,
-        $Direction, [double]0.0, [double]1.0, $IsGearSwitch,
+        $X, $Y, $Heading, $Heading, $ArcLength,
+        $Direction, $VehicleCurvature, [double]1.0, $IsGearSwitch,
         [Enum]::Parse($coarsePointSourceType, $SourceName)))
 }
 
@@ -284,6 +286,7 @@ $boundsType = Get-RequiredType 'MultiWheelC.TrajectoryPlanning.Mapping.MapBounds
 $mapRequestType = Get-RequiredType 'MultiWheelC.TrajectoryPlanning.Mapping.PlanningMapRequest'
 $mapFactoryType = Get-RequiredType 'MultiWheelC.TrajectoryPlanning.Mapping.PlanningMapFactory'
 $validatorType = Get-RequiredType ($root + 'Validation.SmoothedPathValidator')
+$rawBaselineBuilderType = Get-RequiredType ($processing + 'RawPathBaselineBuilder')
 
 Assert-True ($null -ne $preparedPathType) 'PreparedPath must be discoverable for smoothing algorithms.'
 Assert-True ($null -ne $preprocessorType) 'PathSmoothingPreprocessor must be discoverable for request preparation.'
@@ -299,6 +302,10 @@ $validator = [Activator]::CreateInstance($validatorType)
 $validateMethod = $validatorType.GetMethod('TryValidate')
 Assert-True ($null -ne $validateMethod) 'SmoothedPathValidator must expose TryValidate.'
 Assert-Equal 9 $validateMethod.GetParameters().Length 'SmoothedPathValidator.TryValidate must retain its public contract.'
+$rawBaselineMethod = $rawBaselineBuilderType.GetMethod(
+    'TryCreate',
+    [Reflection.BindingFlags]'Static,NonPublic')
+Assert-True ($null -ne $rawBaselineMethod) 'RawPathBaselineBuilder must expose its internal TryCreate path.'
 
 $forward = [Enum]::Parse($directionType, 'Forward')
 $reverse = [Enum]::Parse($directionType, 'Reverse')
@@ -331,6 +338,61 @@ Assert-True ($overLimitAnalysis.MaximumAbsoluteVehicleCurvaturePerMeter -gt $max
 $overLimitValidation = Invoke-GeometryValidation $overLimitAnalysis @($overLimitCircle) $circleVehicle
 Assert-False $overLimitValidation.Accepted 'The validator must reject an analyzed over-limit circle.'
 
+# Trusted raw fallback must apply the exact vehicle-curvature gate before reconstruction.
+$trustedLimit = 0.80
+$trustedOverLimit = $trustedLimit + 0.0000005
+$analyzedCurvature = $trustedLimit + 0.01
+$chordLength = 0.05
+$headingStep = 2.0 * [Math]::Asin($analyzedCurvature * $chordLength / 2.0)
+$radius = 1.0 / $analyzedCurvature
+$trustedPoints = [Array]::CreateInstance($coarsePointType, 21)
+for ($index = 0; $index -le 20; $index++) {
+    $theta = $headingStep * $index
+    $trustedPoints.SetValue((New-CoarsePathPoint `
+        (1.0 + $radius * [Math]::Sin($theta)) `
+        (1.0 + $radius * (1.0 - [Math]::Cos($theta))) `
+        ($index * $chordLength) `
+        $forward `
+        $false `
+        $(if ($index -eq 0) { 'Start' } else { 'MotionPrimitive' }) `
+        $theta `
+        $trustedOverLimit), $index)
+}
+$trustedSegments = [Array]::CreateInstance($coarseSegmentType, 1)
+$trustedSegments.SetValue(
+    [Activator]::CreateInstance($coarseSegmentType, @(0, $forward, 0, 20, $false, $false)),
+    0)
+$trustedVehicle = [Activator]::CreateInstance($vehicleType)
+$trustedVehicle.LengthMeters = 0.20
+$trustedVehicle.WidthMeters = 0.20
+$trustedVehicle.SafetyMarginMeters = 0.0
+$trustedVehicle.MaximumCurvaturePerMeter = $trustedLimit
+$trustedConfiguration = [Activator]::CreateInstance($smoothingConfigurationType)
+$trustedRequest = [Activator]::CreateInstance($smoothingRequestType, @(
+    $trustedPoints,
+    $trustedSegments,
+    (New-EmptyGeometryMap),
+    $trustedVehicle,
+    $trustedConfiguration))
+$trustedPreprocessor = [Activator]::CreateInstance($preprocessorType)
+$trustedPrepareMethod = $preprocessorType.GetMethod('TryPrepare')
+$trustedPrepareArguments = [object[]]@($trustedRequest, $null, $null)
+Assert-True $trustedPrepareMethod.Invoke($trustedPreprocessor, $trustedPrepareArguments) `
+    ('Trusted raw fallback regression must prepare successfully. Reason=' + $trustedPrepareArguments[2])
+$trustedBaselineArguments = [object[]]@(
+    $trustedRequest,
+    $trustedPrepareArguments[1],
+    $analyzer,
+    $trustedConfiguration.OutputSpacingMeters,
+    $validator,
+    $trustedConfiguration.MaximumCollisionCheckStepMeters,
+    $null,
+    $null)
+Assert-False $rawBaselineMethod.Invoke($null, $trustedBaselineArguments) `
+    'Trusted raw fallback must not publish a coarse curvature above the exact vehicle maximum.'
+Assert-Equal $overLimitValidation.Reason $trustedBaselineArguments[7] `
+    'Rejecting trusted raw fallback must preserve the original analyzed-path validation failure.'
+
 # The chord-corrected estimator must not under-estimate these smooth references more than the former polyline estimator.
 foreach ($quinticCase in @(
         [pscustomobject]@{ Name = 'SBend'; C2 = 0.0; C3 = 0.30; C4 = -0.45; C5 = 0.18; Power = 1.0 },

ClumsyPilot/tests/verify_path_smoothing_local_g2_candidates.ps1

@@ -80,14 +80,22 @@ Assert-True $twoRegions.WorkOrderDescending `
 Assert-True $twoRegions.FrontArcPreservedAfterBackReplacement `
     'Replacing the back region must preserve the front region original arc coordinates.'
 Assert-True $twoRegions.BothReplacementsRetained `
-    'Back-then-front replacement must retain both length-changing local replacements.'
+    'Back-then-front replacement must retain the exact LocalG2Transition interiors at (0.75, 0.20) and (2.25, 0.20).'
 Assert-True $twoRegions.ForwardOrderRejected `
     'The regression fixture must prove that front-first invalidates the original back absolute arc.'
 Assert-True $twoRegions.DeterministicWorkOrder `
     'Work ordering must repeat exactly without mutating report order.'
+Assert-True $twoRegions.DeterministicReplacementGeometry `
+    'Repeated back-then-front replacement must preserve count and every point X, Y, source, and direction.'
 Assert-True $twoRegions.InvalidWorkOrderRejected `
     'Work ordering must reject null regions and cross-segment event contents.'
 
+$ordering = Invoke-Scenario 'MultiSegmentWorkOrder'
+Assert-True $ordering.SegmentOrderAscending `
+    'Region work ordering must process segment indices in ascending order.'
+Assert-True $ordering.EqualArcUsesReportOrder `
+    'Equal first-local-arc regions must retain their original report-index order.'
+
 $evaluatorType = Get-RequiredType 'MultiWheelC.TrajectoryPlanning.PathSmoothing.LocalG2.LocalG2CandidateEvaluator'
 $evaluatorHooksType = $evaluatorType.GetNestedType('TestHooks', [Reflection.BindingFlags]'Public,NonPublic')
 Assert-True ($null -ne $evaluatorHooksType) 'LocalG2CandidateEvaluator must expose narrowly scoped deterministic TestHooks.'