feat: add cubic b-spline path smoother

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Algorithms/SmoothingAlgorithmInput.cs

@@ -12,12 +12,14 @@ internal sealed class SmoothingAlgorithmInput
         PreparedPath originalPath,
         PlanningGridMap map,
         VehicleParameters vehicle,
-        double maximumCollisionCheckStepMeters)
+        double maximumCollisionCheckStepMeters,
+        double minimumClearanceReserveMeters)
     {
         OriginalPath = originalPath ?? throw new ArgumentNullException(nameof(originalPath));
         Map = map ?? throw new ArgumentNullException(nameof(map));
         Vehicle = vehicle ?? throw new ArgumentNullException(nameof(vehicle));
         MaximumCollisionCheckStepMeters = maximumCollisionCheckStepMeters;
+        MinimumClearanceReserveMeters = minimumClearanceReserveMeters;
     }
 
     /// <summary>已校验并按方向分段的原始路径。</summary>
@@ -31,4 +33,7 @@ internal sealed class SmoothingAlgorithmInput
 
     /// <summary>连续车体碰撞检查的最大步长，单位 m。</summary>
     internal double MaximumCollisionCheckStepMeters { get; }
+
+    /// <summary>候选几何必须从原始保守净空中预留的最小安全余量，单位 m。</summary>
+    internal double MinimumClearanceReserveMeters { get; }
 }