feat: add local G2 smoothing contracts

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/LocalG2QuinticOptions.cs

@@ -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;
+}

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathQualityMetrics.cs

@@ -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; }
 

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingConfiguration.cs

@@ -47,4 +47,7 @@ public sealed class PathSmoothingConfiguration
 
     /// <summary>分段五次多项式专用参数。</summary>
     public PiecewiseQuinticOptions PiecewiseQuintic { get; } = new PiecewiseQuinticOptions();
+
+    /// <summary>局部 G2 五次过渡专用参数。</summary>
+    public LocalG2QuinticOptions LocalG2Quintic { get; } = new LocalG2QuinticOptions();
 }

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRegionFailureReason.cs

@@ -0,0 +1,17 @@
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
+
+/// <summary>局部 G2 区域未替换原始路径的稳定原因。</summary>
+public enum PathSmoothingRegionFailureReason
+{
+    None,
+    WindowUnavailable,
+    CandidateGenerationFailed,
+    Collision,
+    InsufficientClearance,
+    CurvatureExceeded,
+    CurvatureOvershoot,
+    DeviationExceeded,
+    InsufficientImprovement,
+    VariationCostRegression,
+    GlobalValidationRollback,
+}

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRegionReport.cs

@@ -0,0 +1,83 @@
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
+
+/// <summary>单个局部 G2 平滑区域的不可变发布报告。</summary>
+public sealed class PathSmoothingRegionReport
+{
+    public PathSmoothingRegionReport(
+        int segmentIndex,
+        double startArcLengthMeters,
+        double endArcLengthMeters,
+        IReadOnlyList<double> curvatureJumpsPerMeter,
+        double plannedWindowLengthMeters,
+        double actualWindowLengthMeters,
+        double leftWindowLengthMeters,
+        double rightWindowLengthMeters,
+        int candidateCount,
+        int selectedCandidateIndex,
+        PathSmoothingRegionStatus status,
+        PathSmoothingRegionFailureReason failureReason,
+        double rawPeakCurvatureDerivativePerSquareMeter,
+        double resultPeakCurvatureDerivativePerSquareMeter,
+        double rawCurvatureVariationCost,
+        double resultCurvatureVariationCost,
+        double maximumDeviationMeters,
+        double minimumBodyClearanceMeters,
+        double maximumAbsoluteVehicleCurvaturePerMeter)
+    {
+        SegmentIndex = segmentIndex;
+        StartArcLengthMeters = startArcLengthMeters;
+        EndArcLengthMeters = endArcLengthMeters;
+        CurvatureJumpsPerMeter = CopyReadOnly(curvatureJumpsPerMeter);
+        PlannedWindowLengthMeters = plannedWindowLengthMeters;
+        ActualWindowLengthMeters = actualWindowLengthMeters;
+        LeftWindowLengthMeters = leftWindowLengthMeters;
+        RightWindowLengthMeters = rightWindowLengthMeters;
+        CandidateCount = candidateCount;
+        SelectedCandidateIndex = status == PathSmoothingRegionStatus.Improved
+            ? selectedCandidateIndex
+            : -1;
+        Status = status;
+        FailureReason = failureReason;
+        RawPeakCurvatureDerivativePerSquareMeter = rawPeakCurvatureDerivativePerSquareMeter;
+        ResultPeakCurvatureDerivativePerSquareMeter = resultPeakCurvatureDerivativePerSquareMeter;
+        RawCurvatureVariationCost = rawCurvatureVariationCost;
+        ResultCurvatureVariationCost = resultCurvatureVariationCost;
+        MaximumDeviationMeters = maximumDeviationMeters;
+        MinimumBodyClearanceMeters = minimumBodyClearanceMeters;
+        MaximumAbsoluteVehicleCurvaturePerMeter = maximumAbsoluteVehicleCurvaturePerMeter;
+    }
+
+    public int SegmentIndex { get; }
+    public double StartArcLengthMeters { get; }
+    public double EndArcLengthMeters { get; }
+    public IReadOnlyList<double> CurvatureJumpsPerMeter { get; }
+    public double PlannedWindowLengthMeters { get; }
+    public double ActualWindowLengthMeters { get; }
+    public double LeftWindowLengthMeters { get; }
+    public double RightWindowLengthMeters { get; }
+    public int CandidateCount { get; }
+    public int SelectedCandidateIndex { get; }
+    public PathSmoothingRegionStatus Status { get; }
+    public PathSmoothingRegionFailureReason FailureReason { get; }
+    public double RawPeakCurvatureDerivativePerSquareMeter { get; }
+    public double ResultPeakCurvatureDerivativePerSquareMeter { get; }
+    public double RawCurvatureVariationCost { get; }
+    public double ResultCurvatureVariationCost { get; }
+    public double MaximumDeviationMeters { get; }
+    public double MinimumBodyClearanceMeters { get; }
+    public double MaximumAbsoluteVehicleCurvaturePerMeter { get; }
+
+    private static IReadOnlyList<double> CopyReadOnly(IReadOnlyList<double> source)
+    {
+        var copy = new List<double>(source == null ? 0 : source.Count);
+        if (source != null)
+        {
+            for (int index = 0; index < source.Count; index++)
+                copy.Add(source[index]);
+        }
+        return new ReadOnlyCollection<double>(copy);
+    }
+}

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRegionStatus.cs

@@ -0,0 +1,8 @@
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
+
+/// <summary>单个局部 G2 平滑区域的处理结果。</summary>
+public enum PathSmoothingRegionStatus
+{
+    Improved,
+    RetainedOriginal,
+}

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRequest.cs

@@ -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;
     }
 }

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingResult.cs

@@ -11,18 +11,22 @@ public sealed class PathSmoothingResult
         new ReadOnlyCollection<SmoothedPathPoint>(new List<SmoothedPathPoint>());
     private static readonly IReadOnlyList<SmoothedPathSegment> EmptySegments =
         new ReadOnlyCollection<SmoothedPathSegment>(new List<SmoothedPathSegment>());
+    private static readonly IReadOnlyList<PathSmoothingRegionReport> EmptyRegionReports =
+        new ReadOnlyCollection<PathSmoothingRegionReport>(new List<PathSmoothingRegionReport>());
 
     private PathSmoothingResult(
         PathSmoothingStatus status,
         SmoothingMethod? method,
         IReadOnlyList<SmoothedPathPoint> path,
         IReadOnlyList<SmoothedPathSegment> segments,
-        PathSmoothingDiagnostics diagnostics)
+        PathSmoothingDiagnostics diagnostics,
+        IReadOnlyList<PathSmoothingRegionReport> regionReports)
     {
         Status = status;
         Method = method;
         Path = path;
         Segments = segments;
+        RegionReports = regionReports;
         Diagnostics = diagnostics ?? new PathSmoothingDiagnostics(
             new PathQualityMetrics(),
             TimeSpan.Zero,
@@ -43,6 +47,9 @@ public sealed class PathSmoothingResult
     /// <summary>覆盖 <see cref="Path"/> 的方向分段；其他状态始终为空且不可变。</summary>
     public IReadOnlyList<SmoothedPathSegment> Segments { get; }
 
+    /// <summary>局部 G2 各检测区域的不可变报告；传统算法结果为空。</summary>
+    public IReadOnlyList<PathSmoothingRegionReport> RegionReports { get; }
+
     /// <summary>本次平滑的质量和终止诊断；始终非空。</summary>
     public PathSmoothingDiagnostics Diagnostics { get; }
 
@@ -59,7 +66,8 @@ public sealed class PathSmoothingResult
             method,
             CopyReadOnly(path),
             CopyReadOnly(segments),
-            diagnostics);
+            diagnostics,
+            EmptyRegionReports);
     }
 
     /// <summary>创建经过完整复核的原始粗路径回退结果。</summary>
@@ -75,17 +83,49 @@ public sealed class PathSmoothingResult
             attemptedMethod,
             CopyReadOnly(path),
             CopyReadOnly(segments),
-            diagnostics);
+            diagnostics,
+            EmptyRegionReports);
+    }
+
+    /// <summary>发布经过完整复核的局部 G2 预平滑结果。</summary>
+    public static PathSmoothingResult PublishLocalG2(
+        PathSmoothingStatus status,
+        IReadOnlyList<SmoothedPathPoint> path,
+        IReadOnlyList<SmoothedPathSegment> segments,
+        PathSmoothingDiagnostics diagnostics,
+        IReadOnlyList<PathSmoothingRegionReport> regionReports)
+    {
+        if (status != PathSmoothingStatus.Complete &&
+            status != PathSmoothingStatus.PartialImprovement &&
+            status != PathSmoothingStatus.NotNeeded &&
+            status != PathSmoothingStatus.Unchanged)
+            throw new ArgumentException("Use a Local G2 publication status.", nameof(status));
+        if (regionReports == null)
+            throw new ArgumentNullException(nameof(regionReports));
+
+        ValidatePublishedResult(SmoothingMethod.LocalG2Quintic, path, segments, diagnostics);
+        return new PathSmoothingResult(
+            status,
+            SmoothingMethod.LocalG2Quintic,
+            CopyReadOnly(path),
+            CopyReadOnly(segments),
+            diagnostics,
+            CopyReadOnly(regionReports));
     }
 
     /// <summary>创建不发布路径的失败、不可行、取消或输入无效结果。</summary>
     public static PathSmoothingResult Failure(PathSmoothingStatus status, PathSmoothingDiagnostics diagnostics)
     {
-        if (status == PathSmoothingStatus.Success || status == PathSmoothingStatus.FallbackToCoarsePath)
+        if (status == PathSmoothingStatus.Success ||
+            status == PathSmoothingStatus.FallbackToCoarsePath ||
+            status == PathSmoothingStatus.Complete ||
+            status == PathSmoothingStatus.PartialImprovement ||
+            status == PathSmoothingStatus.NotNeeded ||
+            status == PathSmoothingStatus.Unchanged)
             throw new ArgumentException("Use Success or Fallback to publish a path.", nameof(status));
         if (!Enum.IsDefined(typeof(PathSmoothingStatus), status))
             throw new ArgumentOutOfRangeException(nameof(status));
-        return new PathSmoothingResult(status, null, EmptyPath, EmptySegments, diagnostics);
+        return new PathSmoothingResult(status, null, EmptyPath, EmptySegments, diagnostics, EmptyRegionReports);
     }
 
     private static void ValidatePublishedResult(

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingStatus.cs

@@ -9,4 +9,8 @@ public enum PathSmoothingStatus
     Infeasible,
     Failed,
     Cancelled,
+    Complete,
+    PartialImprovement,
+    NotNeeded,
+    Unchanged,
 }

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/SmoothedPathPoint.cs

@@ -17,6 +17,36 @@ public sealed class SmoothedPathPoint
         double bodyClearanceMeters,
         bool isGearSwitchPoint,
         SmoothedPathPointSource source)
+        : this(
+            xMeters,
+            yMeters,
+            headingRadians,
+            unwrappedHeadingRadians,
+            arcLengthMeters,
+            direction,
+            geometricCurvaturePerMeter,
+            vehicleCurvaturePerMeter,
+            0d,
+            bodyClearanceMeters,
+            isGearSwitchPoint,
+            source)
+    {
+    }
+
+    /// <summary>创建带有车辆曲率对弧长导数的不可变采样点。</summary>
+    public SmoothedPathPoint(
+        double xMeters,
+        double yMeters,
+        double headingRadians,
+        double unwrappedHeadingRadians,
+        double arcLengthMeters,
+        TravelDirection direction,
+        double geometricCurvaturePerMeter,
+        double vehicleCurvaturePerMeter,
+        double vehicleCurvatureDerivativePerSquareMeter,
+        double bodyClearanceMeters,
+        bool isGearSwitchPoint,
+        SmoothedPathPointSource source)
     {
         X = xMeters;
         Y = yMeters;
@@ -26,6 +56,7 @@ public sealed class SmoothedPathPoint
         Direction = direction;
         GeometricCurvature = geometricCurvaturePerMeter;
         VehicleCurvature = vehicleCurvaturePerMeter;
+        VehicleCurvatureDerivative = vehicleCurvatureDerivativePerSquareMeter;
         BodyClearance = bodyClearanceMeters;
         IsGearSwitchPoint = isGearSwitchPoint;
         Source = source;
@@ -55,6 +86,9 @@ public sealed class SmoothedPathPoint
     /// <summary>车辆模型使用的有符号曲率，单位 1/m。</summary>
     public double VehicleCurvature { get; }
 
+    /// <summary>车辆曲率对弧长的导数 dκ/ds，单位 1/m²。</summary>
+    public double VehicleCurvatureDerivative { get; }
+
     /// <summary>扩大车体后的保守净空下界，单位 m。</summary>
     public double BodyClearance { get; }
 

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/SmoothedPathPointSource.cs

@@ -7,4 +7,5 @@ public enum SmoothedPathPointSource
     Interpolated,
     GearSwitch,
     CoarsePathFallback,
+    LocalG2Transition,
 }

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/SmoothingMethod.cs

@@ -6,4 +6,5 @@ public enum SmoothingMethod
     CubicBSpline,
     LocalCubicBezier,
     PiecewiseQuintic,
+    LocalG2Quintic,
 }

ClumsyPilot/tests/verify_path_smoothing_contracts.ps1

@@ -47,6 +47,10 @@ $segmentType = Get-RequiredType ($root + 'SmoothedPathSegment')
 $bsplineOptionsType = Get-RequiredType ($root + 'CubicBSplineOptions')
 $bezierOptionsType = Get-RequiredType ($root + 'LocalCubicBezierOptions')
 $quinticOptionsType = Get-RequiredType ($root + 'PiecewiseQuinticOptions')
+$localOptionsType = Get-RequiredType ($root + 'LocalG2QuinticOptions')
+$regionStatusType = Get-RequiredType ($root + 'PathSmoothingRegionStatus')
+$regionFailureType = Get-RequiredType ($root + 'PathSmoothingRegionFailureReason')
+$regionReportType = Get-RequiredType ($root + 'PathSmoothingRegionReport')
 $requestType = Get-RequiredType ($root + 'PathSmoothingRequest')
 $metricsType = Get-RequiredType ($root + 'PathQualityMetrics')
 $diagnosticsType = Get-RequiredType ($root + 'PathSmoothingDiagnostics')
@@ -60,9 +64,11 @@ $vehicleType = Get-RequiredType ($coarsePathRoot + 'VehicleParameters')
 Assert-Equal $true $methodType.IsEnum 'SmoothingMethod must be a public enum.'
 Assert-Equal $true $statusType.IsEnum 'PathSmoothingStatus must be a public enum.'
 Assert-Equal $true $sourceType.IsEnum 'SmoothedPathPointSource must be a public enum.'
-Assert-Equal 'CubicBSpline,LocalCubicBezier,PiecewiseQuintic' ([string]::Join(',', [Enum]::GetNames($methodType))) 'Smoothing method members and order must remain stable.'
+Assert-Equal 'CubicBSpline,LocalCubicBezier,PiecewiseQuintic,LocalG2Quintic' ([string]::Join(',', [Enum]::GetNames($methodType))) 'The Local G2 method must be appended without reordering legacy methods.'
-Assert-Equal 'Success,FallbackToCoarsePath,InvalidInput,Infeasible,Failed,Cancelled' ([string]::Join(',', [Enum]::GetNames($statusType))) 'Smoothing status members and order must remain stable.'
+Assert-Equal 'Success,FallbackToCoarsePath,InvalidInput,Infeasible,Failed,Cancelled,Complete,PartialImprovement,NotNeeded,Unchanged' ([string]::Join(',', [Enum]::GetNames($statusType))) 'Local G2 statuses must be appended without reordering legacy statuses.'
-Assert-Equal 'Anchor,Interpolated,GearSwitch,CoarsePathFallback' ([string]::Join(',', [Enum]::GetNames($sourceType))) 'Smoothed point source members and order must remain stable.'
+Assert-Equal 'Anchor,Interpolated,GearSwitch,CoarsePathFallback,LocalG2Transition' ([string]::Join(',', [Enum]::GetNames($sourceType))) 'Local G2 point source must be appended without reordering legacy sources.'
+Assert-Equal 'Improved,RetainedOriginal' ([string]::Join(',', [Enum]::GetNames($regionStatusType))) 'Local G2 region statuses must be stable.'
+Assert-Equal 'None,WindowUnavailable,CandidateGenerationFailed,Collision,InsufficientClearance,CurvatureExceeded,CurvatureOvershoot,DeviationExceeded,InsufficientImprovement,VariationCostRegression,GlobalValidationRollback' ([string]::Join(',', [Enum]::GetNames($regionFailureType))) 'Local G2 region failure reasons must be stable.'
 
 $configuration = [Activator]::CreateInstance($configurationType)
 Assert-Near 0.05 $configuration.OutputSpacingMeters 'Default output spacing must be 0.05 m.'
@@ -87,6 +93,16 @@ Assert-Near (1.0 / 3.0) $bezier.HandleLengthRatio 'Bezier handle default must be
 $quintic = [Activator]::CreateInstance($quinticOptionsType)
 Assert-Near 0.50 $quintic.KnotSpacingMeters 'Quintic knot spacing must be 0.50 m.'
 Assert-Near 0.10 $quintic.MinimumKnotSpacingMeters 'Quintic minimum knot spacing must be 0.10 m.'
+$local = [Activator]::CreateInstance($localOptionsType)
+Assert-Near 0.20 $local.MinimumWindowLengthMeters 'Minimum Local G2 window must be 0.20 m.'
+Assert-Near 0.50 $local.PreferredWindowLengthMeters 'Preferred Local G2 window must be 0.50 m.'
+Assert-Near 0.80 $local.MaximumWindowLengthMeters 'Maximum Local G2 window must be 0.80 m.'
+Assert-Near 0.10 $local.MaximumDeviationMeters 'Maximum Local G2 deviation must be 0.10 m.'
+Assert-Near 0.001 $local.AbsoluteCurvatureJumpFloorPerMeter 'Absolute jump floor must be 0.001 1/m.'
+Assert-Near 0.05 $local.CurvatureJumpRatioOfMaximum 'Relative jump threshold must be 5 percent.'
+Assert-Near 0.20 $local.MinimumPeakGradientImprovementRatio 'Peak improvement must be 20 percent.'
+Assert-Near 0.02 $local.MaximumVariationCostRegressionRatio 'Variation cost tolerance must be 2 percent.'
+Assert-Equal 12 $local.MaximumCandidatesPerRegion 'At most twelve candidates are allowed.'
 
 $forward = [Enum]::Parse($directionType, 'Forward')
 $anchor = [Enum]::Parse($sourceType, 'Anchor')
@@ -104,6 +120,11 @@ Assert-Near 0.12 $point.VehicleCurvature 'Smoothed point vehicle curvature must
 Assert-Near 0.44 $point.BodyClearance 'Smoothed point clearance must be stored in m.'
 Assert-Equal $false $point.IsGearSwitchPoint 'Smoothed point gear-switch marker must be preserved.'
 Assert-Equal 'Anchor' $point.Source.ToString() 'Smoothed point source must be preserved.'
+Assert-True ($pointType.GetProperty('VehicleCurvatureDerivative') -ne $null) 'Smoothed points must expose d-kappa/d-s.'
+$pointWithDerivative = [Activator]::CreateInstance($pointType, @(
+    [double]1.25, [double]-2.50, [double]0.30, [double]6.58, [double]4.75,
+    $forward, [double]0.12, [double]0.12, [double]0.37, [double]0.44, $false, $anchor))
+Assert-Near 0.37 $pointWithDerivative.VehicleCurvatureDerivative 'Smoothed point curvature derivative must be stored in 1/m^2.'
 
 $segmentA = [Activator]::CreateInstance($segmentType, @(0, $forward, 0, 2, $false, $true))
 $reverse = [Enum]::Parse($directionType, 'Reverse')
@@ -120,6 +141,13 @@ $metrics = [Activator]::CreateInstance($metricsType)
 Assert-Equal $false $metrics.IsFeasible 'Default metrics must be infeasible until analysis accepts a candidate.'
 Assert-Near 0.0 $metrics.PathLengthMeters 'Default metrics must be zero-valued.'
 Assert-Near 0.0 $metrics.MinimumBodyClearanceMeters 'Default metrics must be zero-valued.'
+Assert-Near 0.0 $metrics.MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter 'Default derivative metric must be zero-valued.'
+Assert-Near 0.0 $metrics.CurvatureVariationCost 'Curvature variation cost compatibility alias must be available.'
+$metricsWithDerivative = [Activator]::CreateInstance($metricsType, @(
+    $true,
+    [double]1.0, [double]0.50, [double]0.75, [double]0.0, [double]0.0,
+    [double]0.0, [double]0.25, [double]0.0, [double]0.0, [double]0.0, [double]0.0))
+Assert-Near 0.75 $metricsWithDerivative.MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter 'Derivative-aware metrics constructor must retain the peak derivative.'
 $diagnostics = [Activator]::CreateInstance($diagnosticsType)
 Assert-True ($diagnostics.Metrics -ne $null) 'Default diagnostics must provide quality metrics.'
 Assert-Equal 0 $diagnostics.RetryCount 'Default diagnostics must have no retries.'
@@ -166,6 +194,7 @@ Assert-Throws { $fallbackMethod.Invoke($null, @([Enum]::ToObject($methodType, 99
 $fallback = $fallbackMethod.Invoke($null, @($method, $fallbackPath, $fallbackSegments, $feasibleDiagnostics))
 Assert-Equal 'FallbackToCoarsePath' $fallback.Status.ToString() 'Fallback factory must publish an explicit fallback status.'
 Assert-Equal 1 $fallback.Path.Count 'Fallback factory must publish a validated fallback path.'
+Assert-Equal 0 $fallback.RegionReports.Count 'Legacy fallback results must publish empty immutable region reports.'
 
 $failureMethod = $resultType.GetMethod('Failure')
 Assert-True ($null -ne $failureMethod) 'PathSmoothingResult must expose Failure.'
@@ -183,6 +212,44 @@ Assert-Throws { $failureMethod.Invoke($null, @([Enum]::Parse($statusType, 'Fallb
 Assert-Throws { $failureMethod.Invoke($null, @([Enum]::ToObject($statusType, 99), $diagnostics)) } 'Failure factory must reject undefined statuses.'
 Assert-Throws { $successMethod.Invoke($null, @($method, [Array]::CreateInstance($pointType, 0), $fallbackSegments, $diagnostics)) } 'Success factory must reject an empty path.'
 Assert-Throws { $successMethod.Invoke($null, @($method, $fallbackPath, [Array]::CreateInstance($segmentType, 0), $diagnostics)) } 'Success factory must reject empty segments.'
+Assert-Equal 0 $success.RegionReports.Count 'Legacy success results must publish empty immutable region reports.'
+Assert-ReadOnlyCollection $success.RegionReports 'Legacy success region reports must be immutable.'
+
+$curvatureJumps = [System.Collections.Generic.List[double]]::new()
+$curvatureJumps.Add([double]0.20)
+$report = [Activator]::CreateInstance($regionReportType, @(
+    0, [double]0.0, [double]0.5, $curvatureJumps,
+    [double]0.5, [double]0.5, [double]0.25, [double]0.25,
+    1, 0,
+    [Enum]::Parse($regionStatusType, 'Improved'), [Enum]::Parse($regionFailureType, 'None'),
+    [double]1.0, [double]0.5, [double]2.0, [double]1.0,
+    [double]0.05, [double]0.10, [double]0.80))
+Assert-ReadOnlyCollection $report.CurvatureJumpsPerMeter 'Region report curvature jumps must be immutable.'
+$curvatureJumps[0] = [double]9.99
+Assert-Near 0.20 $report.CurvatureJumpsPerMeter[0] 'Region report must copy curvature jumps.'
+$retainedReport = [Activator]::CreateInstance($regionReportType, @(
+    0, [double]0.0, [double]0.5, $curvatureJumps,
+    [double]0.5, [double]0.5, [double]0.25, [double]0.25,
+    1, 7,
+    [Enum]::Parse($regionStatusType, 'RetainedOriginal'), [Enum]::Parse($regionFailureType, 'InsufficientImprovement'),
+    [double]1.0, [double]1.0, [double]2.0, [double]2.0,
+    [double]0.0, [double]0.10, [double]0.80))
+Assert-Equal -1 $retainedReport.SelectedCandidateIndex 'A region without a selected candidate must publish -1.'
+$publishLocalG2Method = $resultType.GetMethod('PublishLocalG2')
+Assert-True ($null -ne $publishLocalG2Method) 'PathSmoothingResult must expose PublishLocalG2.'
+$reports = [Array]::CreateInstance($regionReportType, 1)
+$reports.SetValue($report, 0)
+$localG2Method = [Enum]::Parse($methodType, 'LocalG2Quintic')
+$complete = [Enum]::Parse($statusType, 'Complete')
+$localG2Result = $publishLocalG2Method.Invoke($null, @($complete, $fallbackPath, $fallbackSegments, $feasibleDiagnostics, $reports))
+Assert-Equal 'Complete' $localG2Result.Status.ToString() 'PublishLocalG2 must retain Local G2 publication status.'
+Assert-Equal 'LocalG2Quintic' $localG2Result.Method.ToString() 'PublishLocalG2 must publish the Local G2 method.'
+Assert-Equal 1 $localG2Result.RegionReports.Count 'PublishLocalG2 must publish region reports.'
+Assert-ReadOnlyCollection $localG2Result.RegionReports 'Local G2 result region reports must be immutable.'
+$reports.SetValue($null, 0)
+Assert-True ($null -ne $localG2Result.RegionReports[0]) 'PublishLocalG2 must copy region reports.'
+Assert-Throws { $publishLocalG2Method.Invoke($null, @([Enum]::Parse($statusType, 'Success'), $fallbackPath, $fallbackSegments, $feasibleDiagnostics, $reports)) } 'PublishLocalG2 must reject legacy statuses.'
+Assert-Throws { $publishLocalG2Method.Invoke($null, @($complete, [Array]::CreateInstance($pointType, 0), $fallbackSegments, $feasibleDiagnostics, $reports)) } 'PublishLocalG2 must reject an empty path.'
 
 $requestConstructor = $requestType.GetConstructor(@(
     [System.Collections.Generic.IReadOnlyList``1].MakeGenericType($coarsePointType),
@@ -235,6 +302,15 @@ $requestConfiguration.LocalCubicBezier.MaximumWindowLengthMeters = [double]0.99
 $requestConfiguration.LocalCubicBezier.HandleLengthRatio = [double]0.99
 $requestConfiguration.PiecewiseQuintic.KnotSpacingMeters = [double]0.99
 $requestConfiguration.PiecewiseQuintic.MinimumKnotSpacingMeters = [double]0.99
+$requestConfiguration.LocalG2Quintic.MinimumWindowLengthMeters = [double]0.99
+$requestConfiguration.LocalG2Quintic.PreferredWindowLengthMeters = [double]0.99
+$requestConfiguration.LocalG2Quintic.MaximumWindowLengthMeters = [double]0.99
+$requestConfiguration.LocalG2Quintic.MaximumDeviationMeters = [double]0.99
+$requestConfiguration.LocalG2Quintic.AbsoluteCurvatureJumpFloorPerMeter = [double]0.99
+$requestConfiguration.LocalG2Quintic.CurvatureJumpRatioOfMaximum = [double]0.99
+$requestConfiguration.LocalG2Quintic.MinimumPeakGradientImprovementRatio = [double]0.99
+$requestConfiguration.LocalG2Quintic.MaximumVariationCostRegressionRatio = [double]0.99
+$requestConfiguration.LocalG2Quintic.MaximumCandidatesPerRegion = 99
 Assert-True ($null -ne $request.CoarsePath[0]) 'Request must copy the coarse-path collection.'
 Assert-True ($null -ne $request.Segments[0]) 'Request must copy the segment collection.'
 Assert-Near 0.80 $request.Vehicle.LengthMeters 'Request must snapshot vehicle parameters.'
@@ -254,6 +330,15 @@ Assert-Near 0.60 $request.Configuration.LocalCubicBezier.MaximumWindowLengthMete
 Assert-Near (1.0 / 3.0) $request.Configuration.LocalCubicBezier.HandleLengthRatio 'Request must snapshot Bezier options.'
 Assert-Near 0.50 $request.Configuration.PiecewiseQuintic.KnotSpacingMeters 'Request must snapshot quintic options.'
 Assert-Near 0.10 $request.Configuration.PiecewiseQuintic.MinimumKnotSpacingMeters 'Request must snapshot quintic minimum spacing.'
+Assert-Near 0.20 $request.Configuration.LocalG2Quintic.MinimumWindowLengthMeters 'Request must snapshot Local G2 minimum window.'
+Assert-Near 0.50 $request.Configuration.LocalG2Quintic.PreferredWindowLengthMeters 'Request must snapshot Local G2 preferred window.'
+Assert-Near 0.80 $request.Configuration.LocalG2Quintic.MaximumWindowLengthMeters 'Request must snapshot Local G2 maximum window.'
+Assert-Near 0.10 $request.Configuration.LocalG2Quintic.MaximumDeviationMeters 'Request must snapshot Local G2 maximum deviation.'
+Assert-Near 0.001 $request.Configuration.LocalG2Quintic.AbsoluteCurvatureJumpFloorPerMeter 'Request must snapshot Local G2 absolute jump floor.'
+Assert-Near 0.05 $request.Configuration.LocalG2Quintic.CurvatureJumpRatioOfMaximum 'Request must snapshot Local G2 relative jump threshold.'
+Assert-Near 0.20 $request.Configuration.LocalG2Quintic.MinimumPeakGradientImprovementRatio 'Request must snapshot Local G2 peak improvement threshold.'
+Assert-Near 0.02 $request.Configuration.LocalG2Quintic.MaximumVariationCostRegressionRatio 'Request must snapshot Local G2 variation tolerance.'
+Assert-Equal 12 $request.Configuration.LocalG2Quintic.MaximumCandidatesPerRegion 'Request must snapshot Local G2 candidate count.'
 $request.Vehicle.WidthMeters = [double]9.99
 $request.Vehicle.SafetyMarginMeters = [double]9.99
 $request.Vehicle.MinimumTurningRadiusMeters = [double]9.99
@@ -264,6 +349,15 @@ $request.Configuration.AllowFallbackToCoarsePath = $false
 $request.Configuration.LocalCubicBezier.CornerHeadingThresholdRadians = [double]0.99
 $request.Configuration.LocalCubicBezier.MaximumWindowLengthMeters = [double]0.99
 $request.Configuration.PiecewiseQuintic.MinimumKnotSpacingMeters = [double]0.99
+$request.Configuration.LocalG2Quintic.MinimumWindowLengthMeters = [double]0.99
+$request.Configuration.LocalG2Quintic.PreferredWindowLengthMeters = [double]0.99
+$request.Configuration.LocalG2Quintic.MaximumWindowLengthMeters = [double]0.99
+$request.Configuration.LocalG2Quintic.MaximumDeviationMeters = [double]0.99
+$request.Configuration.LocalG2Quintic.AbsoluteCurvatureJumpFloorPerMeter = [double]0.99
+$request.Configuration.LocalG2Quintic.CurvatureJumpRatioOfMaximum = [double]0.99
+$request.Configuration.LocalG2Quintic.MinimumPeakGradientImprovementRatio = [double]0.99
+$request.Configuration.LocalG2Quintic.MaximumVariationCostRegressionRatio = [double]0.99
+$request.Configuration.LocalG2Quintic.MaximumCandidatesPerRegion = 99
 Assert-Near 0.60 $request.Vehicle.WidthMeters 'Request vehicle getter must not expose mutable state.'
 Assert-Near 0.05 $request.Vehicle.SafetyMarginMeters 'Request vehicle getter must not expose mutable state.'
 Assert-True ($null -eq $request.Vehicle.MinimumTurningRadiusMeters) 'Request vehicle getter must not expose mutable nullable state.'
@@ -274,5 +368,14 @@ Assert-Equal $true $request.Configuration.AllowFallbackToCoarsePath 'Request con
 Assert-Near ([Math]::PI / 18.0) $request.Configuration.LocalCubicBezier.CornerHeadingThresholdRadians 'Request configuration getter must not expose mutable Bezier options.'
 Assert-Near 0.60 $request.Configuration.LocalCubicBezier.MaximumWindowLengthMeters 'Request configuration getter must not expose mutable Bezier options.'
 Assert-Near 0.10 $request.Configuration.PiecewiseQuintic.MinimumKnotSpacingMeters 'Request configuration getter must not expose mutable quintic options.'
+Assert-Near 0.20 $request.Configuration.LocalG2Quintic.MinimumWindowLengthMeters 'Request configuration getter must not expose mutable Local G2 minimum window.'
+Assert-Near 0.50 $request.Configuration.LocalG2Quintic.PreferredWindowLengthMeters 'Request configuration getter must not expose mutable Local G2 preferred window.'
+Assert-Near 0.80 $request.Configuration.LocalG2Quintic.MaximumWindowLengthMeters 'Request configuration getter must not expose mutable Local G2 maximum window.'
+Assert-Near 0.10 $request.Configuration.LocalG2Quintic.MaximumDeviationMeters 'Request configuration getter must not expose mutable Local G2 maximum deviation.'
+Assert-Near 0.001 $request.Configuration.LocalG2Quintic.AbsoluteCurvatureJumpFloorPerMeter 'Request configuration getter must not expose mutable Local G2 absolute jump floor.'
+Assert-Near 0.05 $request.Configuration.LocalG2Quintic.CurvatureJumpRatioOfMaximum 'Request configuration getter must not expose mutable Local G2 relative jump threshold.'
+Assert-Near 0.20 $request.Configuration.LocalG2Quintic.MinimumPeakGradientImprovementRatio 'Request configuration getter must not expose mutable Local G2 peak improvement threshold.'
+Assert-Near 0.02 $request.Configuration.LocalG2Quintic.MaximumVariationCostRegressionRatio 'Request configuration getter must not expose mutable Local G2 variation tolerance.'
+Assert-Equal 12 $request.Configuration.LocalG2Quintic.MaximumCandidatesPerRegion 'Request configuration getter must not expose mutable Local G2 candidate count.'
 
 Write-Output 'Path smoothing contract checks passed.'