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
@@ -5,7 +5,7 @@ public sealed class PathQualityMetrics
 {
    /// <summary>创建全零、不可行的质量指标。</summary>
    public PathQualityMetrics()
-        : this(false, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d)
+        : this(false, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d, 0d)
    {
    }

@@ -22,10 +22,41 @@ public sealed class PathQualityMetrics
        double peakCurvatureChangePercent,
        double curvatureVariationChangePercent,
        double minimumClearanceChangeMeters)
+        : this(
+            isFeasible,
+            pathLengthMeters,
+            maximumAbsoluteVehicleCurvaturePerMeter,
+            0d,
+            rootMeanSquareVehicleCurvaturePerMeter,
+            totalAbsoluteCurvatureVariationPerMeter,
+            curvatureVariationEnergy,
+            minimumBodyClearanceMeters,
+            lengthChangePercent,
+            peakCurvatureChangePercent,
+            curvatureVariationChangePercent,
+            minimumClearanceChangeMeters)
+    {
+    }
+
+    /// <summary>创建带有曲率导数峰值的完整质量指标快照。</summary>
+    public PathQualityMetrics(
+        bool isFeasible,
+        double pathLengthMeters,
+        double maximumAbsoluteVehicleCurvaturePerMeter,
+        double maximumAbsoluteVehicleCurvatureDerivativePerSquareMeter,
+        double rootMeanSquareVehicleCurvaturePerMeter,
+        double totalAbsoluteCurvatureVariationPerMeter,
+        double curvatureVariationEnergy,
+        double minimumBodyClearanceMeters,
+        double lengthChangePercent,
+        double peakCurvatureChangePercent,
+        double curvatureVariationChangePercent,
+        double minimumClearanceChangeMeters)
    {
        IsFeasible = isFeasible;
        PathLengthMeters = pathLengthMeters;
        MaximumAbsoluteVehicleCurvaturePerMeter = maximumAbsoluteVehicleCurvaturePerMeter;
+        MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter = maximumAbsoluteVehicleCurvatureDerivativePerSquareMeter;
        RootMeanSquareVehicleCurvaturePerMeter = rootMeanSquareVehicleCurvaturePerMeter;
        TotalAbsoluteCurvatureVariationPerMeter = totalAbsoluteCurvatureVariationPerMeter;
        CurvatureVariationEnergy = curvatureVariationEnergy;
@@ -45,6 +76,9 @@ public sealed class PathQualityMetrics
    /// <summary>绝对车辆曲率峰值，单位 1/m。</summary>
    public double MaximumAbsoluteVehicleCurvaturePerMeter { get; }

+    /// <summary>绝对车辆曲率导数峰值，单位 1/m²。</summary>
+    public double MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter { get; }
+
    /// <summary>车辆曲率均方根，单位 1/m。</summary>
    public double RootMeanSquareVehicleCurvaturePerMeter { get; }

@@ -54,6 +88,9 @@ public sealed class PathQualityMetrics
    /// <summary>逐方向段计算的曲率变化能量。</summary>
    public double CurvatureVariationEnergy { get; }

+    /// <summary>曲率变化代价的兼容名称。</summary>
+    public double CurvatureVariationCost => CurvatureVariationEnergy;
+
    /// <summary>完整扩大车体的最小保守净空，单位 m。</summary>
    public double MinimumBodyClearanceMeters { get; }