fixup! feat: apply ST stop constraints only at real boundaries

2026-08-05 18:18:16 +08:00
parent dbc7b7ce96
commit 26bd822ec9
2 changed files with 8 additions and 5 deletions
@@ -62,8 +62,9 @@ public sealed class LongitudinalSolutionValidator
                    failureReason = "ST candidate violates physical bounds at knot " + index + ".";
                    return false;
                }
-                double speedLimitAtProgress = speedLimit.MaximumSpeedAt(
-                    Math.Max(0d, Math.Min(input.PathUpperBoundS, progress)));
+                double speedLimitAtProgress = index == 0
+                    ? input.DirectionMaximumSpeedMetersPerSecond
+                    : speedLimit.MaximumSpeedAt(Math.Max(0d, Math.Min(input.PathUpperBoundS, progress)));
                if (speed > speedLimitAtProgress + tolerance)
                {
                    failureReason = "ST candidate violates the actual-PathS speed envelope at knot " + index +