chore: save current workspace progress

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRequest.cs

@@ -5,13 +5,23 @@ using MultiWheelC.TrajectoryPlanning.Mapping;
 
 namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
 
-/// <summary>路径平滑所需的原始粗路径、复核上下文和配置。</summary>
+/// <summary>
+/// 一次路径平滑所需的不可变输入快照。
+/// 粗路径、方向段、车辆和配置均在构造时复制；地图保留为调用方已冻结的 <see cref="PlanningGridMap"/> 快照。
+/// </summary>
 public sealed class PathSmoothingRequest
 {
     private readonly VehicleParameters _vehicle;
     private readonly PathSmoothingConfiguration _configuration;
 
-    /// <summary>创建路径平滑请求，并复制粗路径和方向分段集合。</summary>
+    /// <summary>
+    /// 创建路径平滑请求，并防御性复制可变的路径、分段、车辆和配置输入。
+    /// </summary>
+    /// <param name="coarsePath">按起点到终点顺序排列的粗路径点集合；位置与弧长单位为 m，航向单位为 rad。</param>
+    /// <param name="segments">与 <paramref name="coarsePath"/> 对应的前进/倒车包含式方向分段集合。</param>
+    /// <param name="map">用于完整车体碰撞与净空复核的已准备不可变规划地图快照。</param>
+    /// <param name="vehicle">车辆长宽、安全余量和曲率约束；长度单位为 m，曲率单位为 1/m。</param>
+    /// <param name="configuration">本次平滑的采样、净空、曲率和 Local G2 配置；构造后不会与调用方共享可变实例。</param>
     public PathSmoothingRequest(
         IReadOnlyList<CoarsePathPoint> coarsePath,
         IReadOnlyList<PathSegment> segments,
@@ -26,13 +36,13 @@ public sealed class PathSmoothingRequest
         _configuration = CopyConfiguration(configuration);
     }
 
-    /// <summary>原始粗路径的不可变快照。</summary>
+    /// <summary>原始粗路径的只读快照，按起点到终点顺序排列；位置与弧长单位为 m，航向单位为 rad。</summary>
     public IReadOnlyList<CoarsePathPoint> CoarsePath { get; }
 
-    /// <summary>原始粗路径方向分段的不可变快照。</summary>
+    /// <summary>原始粗路径方向分段的只读快照；每段标识连续前进或倒车区间。</summary>
     public IReadOnlyList<PathSegment> Segments { get; }
 
-    /// <summary>用于平滑后完整车体复核的规划栅格地图。</summary>
+    /// <summary>用于平滑后完整车体碰撞和净空复核的已冻结规划栅格地图快照。</summary>
     public PlanningGridMap Map { get; }
 
     /// <summary>车辆几何与最大曲率约束的不可变快照副本。</summary>
@@ -70,19 +80,11 @@ public sealed class PathSmoothingRequest
         if (source == null) return null;
         var copy = new PathSmoothingConfiguration
         {
-            Method = source.Method,
             OutputSpacingMeters = source.OutputSpacingMeters,
             MaximumCollisionCheckStepMeters = source.MaximumCollisionCheckStepMeters,
             MinimumClearanceReserveMeters = source.MinimumClearanceReserveMeters,
-            SmoothingStrength = source.SmoothingStrength,
-            AllowFallbackToCoarsePath = source.AllowFallbackToCoarsePath,
+            CurvatureLimitRadiusToleranceMeters = source.CurvatureLimitRadiusToleranceMeters,
         };
-        copy.CubicBSpline.EndpointTangentScale = source.CubicBSpline.EndpointTangentScale;
-        copy.LocalCubicBezier.CornerHeadingThresholdRadians = source.LocalCubicBezier.CornerHeadingThresholdRadians;
-        copy.LocalCubicBezier.MaximumWindowLengthMeters = source.LocalCubicBezier.MaximumWindowLengthMeters;
-        copy.LocalCubicBezier.HandleLengthRatio = source.LocalCubicBezier.HandleLengthRatio;
-        copy.PiecewiseQuintic.KnotSpacingMeters = source.PiecewiseQuintic.KnotSpacingMeters;
-        copy.PiecewiseQuintic.MinimumKnotSpacingMeters = source.PiecewiseQuintic.MinimumKnotSpacingMeters;
         copy.LocalG2Quintic.MinimumWindowLengthMeters = source.LocalG2Quintic.MinimumWindowLengthMeters;
         copy.LocalG2Quintic.PreferredWindowLengthMeters = source.LocalG2Quintic.PreferredWindowLengthMeters;
         copy.LocalG2Quintic.MaximumWindowLengthMeters = source.LocalG2Quintic.MaximumWindowLengthMeters;