fix: freeze observation planning snapshots

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs

@@ -14,10 +14,13 @@ namespace MultiWheelC.TrajectoryPlanning.TrajectoryObservation;
 
 public sealed class TrajectoryObservationBootstrapResult
 {
+    private readonly VehicleParameters vehicle;
+
     private TrajectoryObservationBootstrapResult(CoarsePathPlanningJob job, CoarsePathPlanningJobResult coarse,
         PathSmoothingResult smoothedPath, IReadOnlyList<DirectionSegmentView> segments, string failureReason)
     {
         Job = job ?? throw new ArgumentNullException(nameof(job));
+        vehicle = CopyVehicle(job.Vehicle);
         CoarseResult = coarse;
         SmoothedPath = smoothedPath;
         Segments = CopySegments(segments);
@@ -29,6 +32,8 @@ public sealed class TrajectoryObservationBootstrapResult
 
     public CoarsePathPlanningJob Job { get; }
 
+    public VehicleParameters Vehicle => CopyVehicle(vehicle);
+
     public CoarsePathPlanningJobResult CoarseResult { get; }
 
     public PathSmoothingResult SmoothedPath { get; }
@@ -67,6 +72,19 @@ public sealed class TrajectoryObservationBootstrapResult
         }
         return new ReadOnlyCollection<DirectionSegmentView>(copy);
     }
+
+    private static VehicleParameters CopyVehicle(VehicleParameters source)
+    {
+        if (source == null) return null;
+        return new VehicleParameters
+        {
+            LengthMeters = source.LengthMeters,
+            WidthMeters = source.WidthMeters,
+            SafetyMarginMeters = source.SafetyMarginMeters,
+            MaximumCurvaturePerMeter = source.MaximumCurvaturePerMeter,
+            MinimumTurningRadiusMeters = source.MinimumTurningRadiusMeters,
+        };
+    }
 }
 
 public sealed class TrajectoryObservationBootstrapper
@@ -208,11 +226,12 @@ public sealed class TrajectoryObservationController
 
         const int segmentIndex = 0;
         long currentCycleId = Interlocked.Increment(ref cycleId);
+        EmTrajectory previousTrajectory = coordinator.PublishedTrajectory;
         var request = new EmPlanningRequest(
-            bootstrap.SmoothedPath, bootstrap.Map, bootstrap.Job.Vehicle, state, configuration,
-            segmentIndex, coordinator.PublishedTrajectory, now, now,
+            bootstrap.SmoothedPath, bootstrap.Map, bootstrap.Vehicle, state, configuration,
+            segmentIndex, previousTrajectory, now, now,
             sessionId + "-trajectory-" + currentCycleId, sessionId + "-reference",
-            coordinator.PublishedTrajectory?.Metadata.TrajectoryId ?? string.Empty,
+            previousTrajectory?.Metadata.TrajectoryId ?? string.Empty,
             EmMotionModel.NonholonomicForwardReverse);
         return coordinator.PlanLatestAsync(new PlanningCycleInput(request, now), cancellationToken);
     }