feat: add local G2 smoothing contracts

2026-07-30 16:12:06 +08:00
parent f19034db1e
commit 3e1126936d
13 changed files with 364 additions and 9 deletions
@@ -0,0 +1,15 @@
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
+
+/// <summary>局部 G2 五次过渡的可配置阈值。</summary>
+public sealed class LocalG2QuinticOptions
+{
+    public double MinimumWindowLengthMeters { get; set; } = 0.20d;
+    public double PreferredWindowLengthMeters { get; set; } = 0.50d;
+    public double MaximumWindowLengthMeters { get; set; } = 0.80d;
+    public double MaximumDeviationMeters { get; set; } = 0.10d;
+    public double AbsoluteCurvatureJumpFloorPerMeter { get; set; } = 0.001d;
+    public double CurvatureJumpRatioOfMaximum { get; set; } = 0.05d;
+    public double MinimumPeakGradientImprovementRatio { get; set; } = 0.20d;
+    public double MaximumVariationCostRegressionRatio { get; set; } = 0.02d;
+    public int MaximumCandidatesPerRegion { get; set; } = 12;
+}