chore: save current workspace progress

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/CoarsePathPoint.cs

@@ -0,0 +1,63 @@
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>最终粗路径上的一个稠密连续点；长度、净空和位置使用 m，航向使用 rad，曲率使用 1/m。</summary>
+public sealed class CoarsePathPoint
+{
+    /// <summary>
+    /// 创建粗路径点。
+    /// 参数：xMeters、yMeters 为世界坐标 m；headingRadians 与 unwrappedHeadingRadians 为航向 rad；arcLengthMeters 和 bodyClearanceMeters 为 m；vehicleCurvaturePerMeter 为 1/m。
+    /// </summary>
+    public CoarsePathPoint(
+        double xMeters,
+        double yMeters,
+        double headingRadians,
+        double unwrappedHeadingRadians,
+        double arcLengthMeters,
+        TravelDirection direction,
+        double vehicleCurvaturePerMeter,
+        double bodyClearanceMeters,
+        bool isGearSwitchPoint,
+        CoarsePathPointSource source)
+    {
+        X = xMeters;
+        Y = yMeters;
+        Heading = headingRadians;
+        UnwrappedHeading = unwrappedHeadingRadians;
+        ArcLength = arcLengthMeters;
+        Direction = direction;
+        VehicleCurvature = vehicleCurvaturePerMeter;
+        BodyClearance = bodyClearanceMeters;
+        IsGearSwitchPoint = isGearSwitchPoint;
+        Source = source;
+    }
+
+    /// <summary>世界 X 坐标，单位 m。</summary>
+    public double X { get; }
+
+    /// <summary>世界 Y 坐标，单位 m。</summary>
+    public double Y { get; }
+
+    /// <summary>归一化后可用于几何查询的车头航向，单位 rad。</summary>
+    public double Heading { get; }
+
+    /// <summary>跨越 ±π 后仍连续的车头航向，单位 rad。</summary>
+    public double UnwrappedHeading { get; }
+
+    /// <summary>从路径起点累计的弧长，单位 m；必须非负且不递减。</summary>
+    public double ArcLength { get; }
+
+    /// <summary>从上一点运动到当前点所在方向段的行驶方向。</summary>
+    public TravelDirection Direction { get; }
+
+    /// <summary>车辆在此点采用的恒曲率原语曲率，单位 1/m。</summary>
+    public double VehicleCurvature { get; }
+
+    /// <summary>扩大车体到障碍物的保守净空下界，单位 m。</summary>
+    public double BodyClearance { get; }
+
+    /// <summary>此点是否为新方向段开始的换向点。</summary>
+    public bool IsGearSwitchPoint { get; }
+
+    /// <summary>此点由起点、普通原语或终点截断产生的来源。</summary>
+    public CoarsePathPointSource Source { get; }
+}

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/CoarsePathPointSource.cs

@@ -0,0 +1,14 @@
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>粗路径点在搜索与原语重建中的产生来源。</summary>
+public enum CoarsePathPointSource
+{
+    /// <summary>请求提供的起始位姿。</summary>
+    Start,
+
+    /// <summary>未截断恒曲率运动原语的内部积分点。</summary>
+    MotionPrimitive,
+
+    /// <summary>首次满足目标容差而在原语内部截断的终点积分点。</summary>
+    GoalTruncation,
+}

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/GoalDirectionConstraint.cs

@@ -0,0 +1,14 @@
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>终点候选最后一个连续运动段的方向约束。</summary>
+public enum GoalDirectionConstraint
+{
+    /// <summary>不限制进入终点的运动方向。</summary>
+    Any,
+
+    /// <summary>必须以前进方向进入终点。</summary>
+    Forward,
+
+    /// <summary>必须以倒车方向进入终点。</summary>
+    Reverse,
+}

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/HybridAStarConfiguration.cs

@@ -0,0 +1,83 @@
+using System;
+
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>
+/// Hybrid A* 粗路径搜索的可调配置。
+/// 长度和距离使用 m，航向使用 rad，曲率使用 1/m；各项有效范围由规划器在执行前校验。
+/// </summary>
+public sealed class HybridAStarConfiguration
+{
+    /// <summary>创建采用 P0 固定安全边界和代价权重的默认配置。</summary>
+    public HybridAStarConfiguration()
+    {
+        PrimitiveLengthMeters = 0.50d;
+        IntegrationStepMeters = 0.05d;
+        MaximumCollisionCheckStepMeters = 0.025d;
+        HeadingResolutionRadians = Math.PI / 36d;
+        CurvatureLevelCount = 5;
+        GoalPositionToleranceMeters = 0.15d;
+        GoalHeadingToleranceRadians = Math.PI / 36d;
+        MaximumExpandedNodes = 200000;
+        SearchTimeout = TimeSpan.FromSeconds(5d);
+        HeuristicWeight = 1d;
+        ReverseCostMultiplier = 1.5d;
+        GearSwitchPenaltyMeters = 1d;
+        CurvatureMagnitudeWeight = 0.10d;
+        CurvatureChangePenaltyMetersPerLevel = 0.05d;
+        ClearanceCostWeight = 0.20d;
+        ClearanceCostDistanceMeters = 0.50d;
+        AllowReverse = true;
+    }
+
+    /// <summary>单个恒曲率原语的最大行驶长度，单位 m。</summary>
+    public double PrimitiveLengthMeters { get; set; }
+
+    /// <summary>原语内部输出积分点之间允许的最大弧长，单位 m。</summary>
+    public double IntegrationStepMeters { get; set; }
+
+    /// <summary>连续碰撞检查允许的最大车辆中心位移，单位 m；实际值还受地图分辨率限制。</summary>
+    public double MaximumCollisionCheckStepMeters { get; set; }
+
+    /// <summary>搜索状态离散所使用的航向格宽，单位 rad。</summary>
+    public double HeadingResolutionRadians { get; set; }
+
+    /// <summary>从最大负曲率到最大正曲率的离散曲率等级数。</summary>
+    public int CurvatureLevelCount { get; set; }
+
+    /// <summary>终点位置允许的欧氏距离误差，单位 m。</summary>
+    public double GoalPositionToleranceMeters { get; set; }
+
+    /// <summary>终点车头航向允许的最小环形角度误差，单位 rad。</summary>
+    public double GoalHeadingToleranceRadians { get; set; }
+
+    /// <summary>单次搜索允许扩展的最大节点数。</summary>
+    public int MaximumExpandedNodes { get; set; }
+
+    /// <summary>单次搜索允许消耗的最长时间；超出后返回 <see cref="PlanningStatus.SearchTimeout"/>。</summary>
+    public TimeSpan SearchTimeout { get; set; }
+
+    /// <summary>二维绕障启发式的权重；1 表示不额外放大。</summary>
+    public double HeuristicWeight { get; set; }
+
+    /// <summary>倒车原语长度代价相对前进原语的倍率。</summary>
+    public double ReverseCostMultiplier { get; set; }
+
+    /// <summary>相邻原语发生换向时增加的等效距离代价，单位 m。</summary>
+    public double GearSwitchPenaltyMeters { get; set; }
+
+    /// <summary>曲率绝对值对应的无量纲代价权重。</summary>
+    public double CurvatureMagnitudeWeight { get; set; }
+
+    /// <summary>相邻曲率等级每变化一级增加的等效距离代价，单位 m。</summary>
+    public double CurvatureChangePenaltyMetersPerLevel { get; set; }
+
+    /// <summary>车体保守净空不足时增加的无量纲代价权重。</summary>
+    public double ClearanceCostWeight { get; set; }
+
+    /// <summary>计算净空代价时视为足够安全的车体保守净空，单位 m。</summary>
+    public double ClearanceCostDistanceMeters { get; set; }
+
+    /// <summary>是否允许生成倒车原语；false 时搜索只生成前进原语。</summary>
+    public bool AllowReverse { get; set; }
+}

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/PathSegment.cs

@@ -0,0 +1,37 @@
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>粗路径中方向一致的一段连续点范围；索引两端均包含在段内。</summary>
+public sealed class PathSegment
+{
+    /// <summary>
+    /// 创建方向分段。
+    /// 参数：segmentIndex 为从零开始的段序号；startIndex 与 endIndex 为 <see cref="PlanningResult.Path"/> 的包含式索引；两个换向标记描述段首或段尾是否位于换向对。
+    /// </summary>
+    public PathSegment(int segmentIndex, TravelDirection direction, int startIndex, int endIndex, bool startsAtGearSwitch, bool endsAtGearSwitch)
+    {
+        SegmentIndex = segmentIndex;
+        Direction = direction;
+        StartIndex = startIndex;
+        EndIndex = endIndex;
+        StartsAtGearSwitch = startsAtGearSwitch;
+        EndsAtGearSwitch = endsAtGearSwitch;
+    }
+
+    /// <summary>从零开始的方向段序号。</summary>
+    public int SegmentIndex { get; }
+
+    /// <summary>此段所有连续运动点对应的行驶方向。</summary>
+    public TravelDirection Direction { get; }
+
+    /// <summary>此段在 <see cref="PlanningResult.Path"/> 中的起始索引，包含该点。</summary>
+    public int StartIndex { get; }
+
+    /// <summary>此段在 <see cref="PlanningResult.Path"/> 中的结束索引，包含该点。</summary>
+    public int EndIndex { get; }
+
+    /// <summary>此段首点是否为换向后保留的新方向点。</summary>
+    public bool StartsAtGearSwitch { get; }
+
+    /// <summary>此段尾点是否紧邻下一方向段的换向对。</summary>
+    public bool EndsAtGearSwitch { get; }
+}

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/PlanningDiagnostics.cs

@@ -0,0 +1,65 @@
+using System;
+
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>一次规划的只读统计与终止说明；长度和净空单位为 m。</summary>
+public sealed class PlanningDiagnostics
+{
+    /// <summary>
+    /// 创建规划统计快照。
+    /// 参数中的节点数量均为非负计数；pathLengthMeters 和 minimumBodyClearanceMeters 单位为 m；elapsed 为总耗时；pathSearchElapsed 为地图和起终点预检通过后的路径产出耗时；terminationReason 为可读终止说明，可为 null。
+    /// </summary>
+    public PlanningDiagnostics(
+        int expandedNodeCount = 0,
+        int generatedNodeCount = 0,
+        int reopenedNodeCount = 0,
+        int staleOpenListEntryCount = 0,
+        int peakOpenListCount = 0,
+        double pathLengthMeters = 0d,
+        double minimumBodyClearanceMeters = 0d,
+        TimeSpan elapsed = default(TimeSpan),
+        string terminationReason = null,
+        TimeSpan pathSearchElapsed = default(TimeSpan))
+    {
+        ExpandedNodeCount = expandedNodeCount;
+        GeneratedNodeCount = generatedNodeCount;
+        ReopenedNodeCount = reopenedNodeCount;
+        StaleOpenListEntryCount = staleOpenListEntryCount;
+        PeakOpenListCount = peakOpenListCount;
+        PathLengthMeters = pathLengthMeters;
+        MinimumBodyClearanceMeters = minimumBodyClearanceMeters;
+        Elapsed = elapsed;
+        PathSearchElapsed = pathSearchElapsed;
+        TerminationReason = terminationReason ?? string.Empty;
+    }
+
+    /// <summary>从 Open List 取出并真正扩展的节点数量。</summary>
+    public int ExpandedNodeCount { get; }
+
+    /// <summary>生成并尝试加入搜索状态的节点数量。</summary>
+    public int GeneratedNodeCount { get; }
+
+    /// <summary>以严格更小代价到达同一离散键而重新打开的节点数量。</summary>
+    public int ReopenedNodeCount { get; }
+
+    /// <summary>从 Open List 取出后因已有更优条目而丢弃的陈旧堆条目数量。</summary>
+    public int StaleOpenListEntryCount { get; }
+
+    /// <summary>搜索期间 Open List 同时容纳的最大有效或待丢弃条目数量。</summary>
+    public int PeakOpenListCount { get; }
+
+    /// <summary>成功路径的累计弧长，单位 m；失败结果通常为 0。</summary>
+    public double PathLengthMeters { get; }
+
+    /// <summary>成功路径所有点中车体保守净空下界的最小值，单位 m；失败结果通常为 0。</summary>
+    public double MinimumBodyClearanceMeters { get; }
+
+    /// <summary>从规划入口到返回结果的总耗时。</summary>
+    public TimeSpan Elapsed { get; }
+
+    /// <summary>地图和起终点预检通过后，二维启发式、Hybrid A*、回溯、装配和最终复核的耗时；不含建图，搜索前失败时为零。</summary>
+    public TimeSpan PathSearchElapsed { get; }
+
+    /// <summary>面向调用方的终止原因；成功时可为空字符串。</summary>
+    public string TerminationReason { get; }
+}

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/PlanningRequest.cs

@@ -0,0 +1,41 @@
+using MultiWheelC.TrajectoryPlanning.Mapping;
+
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>
+/// 已建规划地图上的一次 Hybrid A* 请求。
+/// 本对象只接受不可变 <see cref="PlanningGridMap"/> 快照，不包含地图构建器、传感器、UI 或调试对象。
+/// </summary>
+public sealed class PlanningRequest
+{
+    /// <summary>创建空规划请求。调用规划器前必须提供地图、起点、终点、车辆和配置。</summary>
+    public PlanningRequest()
+    {
+        StartVehicleCurvature = 0d;
+        GoalDirection = GoalDirectionConstraint.Any;
+    }
+
+    /// <summary>本次搜索唯一允许查询的不可变规划地图快照；位置查询单位为 m。</summary>
+    public PlanningGridMap Map { get; set; }
+
+    /// <summary>车辆几何中心的起始位姿；位置单位 m，航向单位 rad。</summary>
+    public Pose2D Start { get; set; }
+
+    /// <summary>车辆几何中心的目标位姿；位置单位 m，航向单位 rad。</summary>
+    public Pose2D Goal { get; set; }
+
+    /// <summary>车辆几何、余量和曲率限制；尺寸单位 m，曲率单位 1/m。</summary>
+    public VehicleParameters Vehicle { get; set; }
+
+    /// <summary>搜索步长、离散、终点容差、代价和资源上限配置。</summary>
+    public HybridAStarConfiguration Configuration { get; set; }
+
+    /// <summary>车辆起步时的转向曲率，单位 1/m；默认值为 0。</summary>
+    public double StartVehicleCurvature { get; set; }
+
+    /// <summary>起步方向约束；null 表示可从前进或倒车开始。</summary>
+    public TravelDirection? StartDirection { get; set; }
+
+    /// <summary>目标进入方向约束；默认值为 <see cref="GoalDirectionConstraint.Any"/>。</summary>
+    public GoalDirectionConstraint GoalDirection { get; set; }
+}

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/PlanningResult.cs

@@ -0,0 +1,67 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>
+/// 一次粗路径规划的最终不可变结果。
+/// 只有 <see cref="Status"/> 为 <see cref="PlanningStatus.Success"/> 时才携带非空路径与方向分段；其他状态始终返回空只读集合。
+/// </summary>
+public sealed class PlanningResult
+{
+    private static readonly IReadOnlyList<CoarsePathPoint> EmptyPath = new ReadOnlyCollection<CoarsePathPoint>(new List<CoarsePathPoint>());
+    private static readonly IReadOnlyList<PathSegment> EmptySegments = new ReadOnlyCollection<PathSegment>(new List<PathSegment>());
+
+    private PlanningResult(PlanningStatus status, PlanningDiagnostics diagnostics, IReadOnlyList<CoarsePathPoint> path, IReadOnlyList<PathSegment> segments)
+    {
+        Status = status;
+        Diagnostics = diagnostics ?? new PlanningDiagnostics(terminationReason: "未提供诊断信息。");
+        Path = path;
+        Segments = segments;
+    }
+
+    /// <summary>规划最终状态；只有 <see cref="PlanningStatus.Success"/> 可以发布路径。</summary>
+    public PlanningStatus Status { get; }
+
+    /// <summary>节点、耗时、路径长度、净空和终止原因统计；始终非空。</summary>
+    public PlanningDiagnostics Diagnostics { get; }
+
+    /// <summary>成功时的稠密粗路径；失败时为不可修改的空集合。</summary>
+    public IReadOnlyList<CoarsePathPoint> Path { get; }
+
+    /// <summary>成功时覆盖 <see cref="Path"/> 的包含式方向分段；失败时为不可修改的空集合。</summary>
+    public IReadOnlyList<PathSegment> Segments { get; }
+
+    /// <summary>
+    /// 创建成功结果。
+    /// 参数：path 与 segments 必须均为非空；diagnostics 为本次规划的统计快照。参数不符合要求时抛出 <see cref="ArgumentException"/>，防止以成功状态发布不完整路径。
+    /// </summary>
+    public static PlanningResult Success(IReadOnlyList<CoarsePathPoint> path, IReadOnlyList<PathSegment> segments, PlanningDiagnostics diagnostics)
+    {
+        if (path == null || path.Count == 0)
+            throw new ArgumentException("Successful planning results require a non-empty path.", nameof(path));
+        if (segments == null || segments.Count == 0)
+            throw new ArgumentException("Successful planning results require non-empty segments.", nameof(segments));
+        return new PlanningResult(PlanningStatus.Success, diagnostics, CopyReadOnly(path), CopyReadOnly(segments));
+    }
+
+    /// <summary>
+    /// 创建失败、取消或资源受限结果。
+    /// 参数：status 不能为 <see cref="PlanningStatus.Success"/>；diagnostics 会原样保留。返回结果的路径与分段始终为空只读集合。
+    /// </summary>
+    public static PlanningResult Failure(PlanningStatus status, PlanningDiagnostics diagnostics)
+    {
+        if (status == PlanningStatus.Success)
+            throw new ArgumentException("Use Success to create a successful planning result.", nameof(status));
+        return new PlanningResult(status, diagnostics, EmptyPath, EmptySegments);
+    }
+
+    private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)
+    {
+        var copy = new List<T>(source.Count);
+        for (int index = 0; index < source.Count; index++)
+            copy.Add(source[index]);
+        return new ReadOnlyCollection<T>(copy);
+    }
+}

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/PlanningStatus.cs

@@ -0,0 +1,56 @@
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>粗路径规划的最终状态；除 <see cref="Success"/> 外均不发布路径或方向分段。</summary>
+public enum PlanningStatus
+{
+    /// <summary>已得到并通过最终连续碰撞复核的完整粗路径。</summary>
+    Success,
+
+    /// <summary>在搜索扩展检查点收到取消请求。</summary>
+    Cancelled,
+
+    /// <summary>请求对象或其必要成员为空，或包含不符合基本契约的值。</summary>
+    InvalidRequest,
+
+    /// <summary>请求提供的地图对象不满足规划器的结构要求。</summary>
+    InvalidMap,
+
+    /// <summary>地图快照尚未准备好参与规划；应查看地图的阻止原因。</summary>
+    MapNotReady,
+
+    /// <summary>车辆尺寸、安全余量或曲率限制无效。</summary>
+    InvalidVehicleParameters,
+
+    /// <summary>原语、离散、代价、容差或资源限制配置无效。</summary>
+    InvalidCurvatureConfiguration,
+
+    /// <summary>起始车辆几何中心或扩大车体不在地图范围内。</summary>
+    StartOutsideMap,
+
+    /// <summary>起始扩大车体与地图障碍物相交或擦边。</summary>
+    StartInCollision,
+
+    /// <summary>目标车辆几何中心或扩大车体不在地图范围内。</summary>
+    GoalOutsideMap,
+
+    /// <summary>目标扩大车体与地图障碍物相交或擦边。</summary>
+    GoalInCollision,
+
+    /// <summary>搜索达到 <see cref="HybridAStarConfiguration.SearchTimeout"/> 限制。</summary>
+    SearchTimeout,
+
+    /// <summary>搜索达到 <see cref="HybridAStarConfiguration.MaximumExpandedNodes"/> 限制。</summary>
+    SearchNodeLimitExceeded,
+
+    /// <summary>Open List 已耗尽，或二维启发式证明目标不可达。</summary>
+    NoFeasiblePath,
+
+    /// <summary>搜索成功节点无法按父链回溯为完整路径。</summary>
+    BacktrackingFailed,
+
+    /// <summary>回溯路径未通过连续碰撞、终点或输出不变量复核。</summary>
+    FinalValidationFailed,
+
+    /// <summary>规划内部发生未预期错误；不会发布部分路径。</summary>
+    InternalError,
+}

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/Pose2D.cs

@@ -0,0 +1,28 @@
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>
+/// 粗路径规划使用的二维连续位姿。
+/// 位置以世界坐标 m 表示，航向以 rad 表示；此值对象不在构造时归一化航向，调用方可保留展开航向。
+/// </summary>
+public sealed class Pose2D
+{
+    /// <summary>
+    /// 创建二维位姿。
+    /// 参数：xMeters、yMeters 为世界坐标，单位 m；headingRadians 为车头航向，单位 rad。
+    /// </summary>
+    public Pose2D(double xMeters, double yMeters, double headingRadians)
+    {
+        X = xMeters;
+        Y = yMeters;
+        Heading = headingRadians;
+    }
+
+    /// <summary>世界 X 坐标，单位 m。</summary>
+    public double X { get; }
+
+    /// <summary>世界 Y 坐标，单位 m。</summary>
+    public double Y { get; }
+
+    /// <summary>车头航向，单位 rad；可以是已展开的连续航向。</summary>
+    public double Heading { get; }
+}

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/TravelDirection.cs

@@ -0,0 +1,11 @@
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>连续运动段的行驶方向。</summary>
+public enum TravelDirection
+{
+    /// <summary>沿车辆车头方向前进。</summary>
+    Forward,
+
+    /// <summary>与车辆车头方向相反地倒车。</summary>
+    Reverse,
+}

.task8-sweep/ParkrobTrajplanner/CoarsePath/Contracts/VehicleParameters.cs

@@ -0,0 +1,28 @@
+namespace MultiWheelC.TrajectoryPlanning.CoarsePath;
+
+/// <summary>
+/// 车辆几何与运动学参数。
+/// 所有几何尺寸均以车辆几何中心为 <see cref="Pose2D"/> 参考点，单位为 m；曲率单位为 1/m。
+/// </summary>
+public sealed class VehicleParameters
+{
+    /// <summary>创建空车辆参数。调用规划器前必须填写有效的几何尺寸和至少一种曲率限制。</summary>
+    public VehicleParameters()
+    {
+    }
+
+    /// <summary>车辆本体长度，单位 m；不含 <see cref="SafetyMarginMeters"/>。</summary>
+    public double LengthMeters { get; set; }
+
+    /// <summary>车辆本体宽度，单位 m；不含 <see cref="SafetyMarginMeters"/>。</summary>
+    public double WidthMeters { get; set; }
+
+    /// <summary>碰撞检查时加在车体四周的安全余量，单位 m；不会写入地图。</summary>
+    public double SafetyMarginMeters { get; set; }
+
+    /// <summary>车辆允许的最大绝对曲率，单位 1/m；null 表示由 <see cref="MinimumTurningRadiusMeters"/> 提供限制。</summary>
+    public double? MaximumCurvaturePerMeter { get; set; }
+
+    /// <summary>车辆允许的最小转弯半径，单位 m；null 表示由 <see cref="MaximumCurvaturePerMeter"/> 提供限制。</summary>
+    public double? MinimumTurningRadiusMeters { get; set; }
+}