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feat: add local G2 smoothing contracts

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梁薄云
2026-07-30 16:12:06 +08:00
parent f19034db1e
commit 3e1126936d
13 changed files with 364 additions and 9 deletions
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ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRequest.cs
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@@ -83,6 +83,15 @@ public sealed class PathSmoothingRequest
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;
copy.LocalG2Quintic.MaximumDeviationMeters = source.LocalG2Quintic.MaximumDeviationMeters;
copy.LocalG2Quintic.AbsoluteCurvatureJumpFloorPerMeter = source.LocalG2Quintic.AbsoluteCurvatureJumpFloorPerMeter;
copy.LocalG2Quintic.CurvatureJumpRatioOfMaximum = source.LocalG2Quintic.CurvatureJumpRatioOfMaximum;
copy.LocalG2Quintic.MinimumPeakGradientImprovementRatio = source.LocalG2Quintic.MinimumPeakGradientImprovementRatio;
copy.LocalG2Quintic.MaximumVariationCostRegressionRatio = source.LocalG2Quintic.MaximumVariationCostRegressionRatio;
copy.LocalG2Quintic.MaximumCandidatesPerRegion = source.LocalG2Quintic.MaximumCandidatesPerRegion;
return copy;
}
}