chore: save current workspace progress

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Validation/SmoothedPathValidator.cs

@@ -22,15 +22,23 @@ public sealed class SmoothedPathValidator
     }
 
     /// <summary>创建使用指定连续车体碰撞检查器的平滑路径验证器。</summary>
+    /// <param name="collisionChecker">以车辆几何中心位姿执行完整车体和扫掠复核的检查器，不能为 <see langword="null"/>。</param>
     public SmoothedPathValidator(FootprintCollisionChecker collisionChecker)
     {
         _collisionChecker = collisionChecker ?? throw new ArgumentNullException(nameof(collisionChecker));
     }
 
-    /// <summary>
-    /// 复核候选平滑路径。每个候选方向段必须保持原始段的端点和换向拓扑；
-    /// 输出中的净空均由本次实际车体检查重新计算，绝不沿用候选声明值。
-    /// </summary>
+    /// <summary>复核候选平滑路径，并以默认零转弯半径容差重新计算所有净空。</summary>
+    /// <param name="candidatePath">待发布候选点序列；位置/弧长单位为 m、航向为 rad、曲率为 1/m。</param>
+    /// <param name="candidateSegments">覆盖候选点的前进/倒车方向段集合。</param>
+    /// <param name="originalPath">预处理原始路径，候选必须保留其端点与换向拓扑。</param>
+    /// <param name="map">已准备的规划地图快照。</param>
+    /// <param name="vehicle">车辆尺寸、安全余量和曲率约束。</param>
+    /// <param name="maximumCollisionCheckStepMeters">相邻点车体扫掠最大中心步长，单位 m。</param>
+    /// <param name="pathWithClearance">成功时为净空由真实复核重算的只读路径；失败时为空集合。</param>
+    /// <param name="minimumClearanceMeters">成功时为完整扩大车体的最小保守净空，单位 m；失败时为 0。</param>
+    /// <param name="reason">失败原因；成功时为空字符串。</param>
+    /// <returns>端点、换向、曲率、点碰撞和扫掠均通过时为 <see langword="true"/>；否则为 <see langword="false"/>，不发布部分路径。</returns>
     public bool TryValidate(
         IReadOnlyList<SmoothedPathPoint> candidatePath,
         IReadOnlyList<SmoothedPathSegment> candidateSegments,
@@ -41,6 +49,35 @@ public sealed class SmoothedPathValidator
         out IReadOnlyList<SmoothedPathPoint> pathWithClearance,
         out double minimumClearanceMeters,
         out string reason)
+    {
+        return TryValidate(
+            candidatePath, candidateSegments, originalPath, map, vehicle, maximumCollisionCheckStepMeters, 0d,
+            out pathWithClearance, out minimumClearanceMeters, out reason);
+    }
+
+    /// <summary>以只用于曲率上限的显式转弯半径容差复核候选路径。</summary>
+    /// <param name="candidatePath">待复核候选点序列。</param>
+    /// <param name="candidateSegments">候选方向段集合。</param>
+    /// <param name="originalPath">必须保持端点和换向拓扑的预处理原始路径。</param>
+    /// <param name="map">规划地图快照。</param>
+    /// <param name="vehicle">车辆几何和曲率约束。</param>
+    /// <param name="maximumCollisionCheckStepMeters">扫掠复核最大中心步长，单位 m。</param>
+    /// <param name="curvatureLimitRadiusToleranceMeters">仅曲率限制使用的最小转弯半径容差，单位 m。</param>
+    /// <param name="pathWithClearance">成功时为重新计算净空后的完整只读路径；失败时为空集合。</param>
+    /// <param name="minimumClearanceMeters">成功时最小保守净空，单位 m；失败时为 0。</param>
+    /// <param name="reason">失败诊断；成功时为空字符串。</param>
+    /// <returns>候选满足拓扑、严格弧长、曲率、点碰撞和扫掠约束时为 <see langword="true"/>；否则为 <see langword="false"/>。</returns>
+    public bool TryValidate(
+        IReadOnlyList<SmoothedPathPoint> candidatePath,
+        IReadOnlyList<SmoothedPathSegment> candidateSegments,
+        PreparedPath originalPath,
+        PlanningGridMap map,
+        VehicleParameters vehicle,
+        double maximumCollisionCheckStepMeters,
+        double curvatureLimitRadiusToleranceMeters,
+        out IReadOnlyList<SmoothedPathPoint> pathWithClearance,
+        out double minimumClearanceMeters,
+        out string reason)
     {
         pathWithClearance = EmptyPath();
         minimumClearanceMeters = 0d;
@@ -52,7 +89,8 @@ public sealed class SmoothedPathValidator
             return false;
         }
 
-        if (!VehicleKinematics.TryGetMaximumCurvaturePerMeter(vehicle, out double maximumCurvatureMeters))
+        if (!CurvatureLimitPolicy.TryGetAllowedMaximumVehicleCurvaturePerMeter(
+                vehicle, curvatureLimitRadiusToleranceMeters, out double maximumCurvatureMeters))
         {
             reason = "车辆曲率约束无效。";
             return false;