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fix(report): correct Local G2 visual invariants

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梁薄云
2026-07-31 12:18:34 +08:00
parent a0828ed931
commit 4e5c5ae78b
2 changed files with 9 additions and 9 deletions
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dailywork_report/pathsmoothing_rep/01-local-g2-quintic-hermite-algorithm-visualization.html
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@@ -48,15 +48,15 @@
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<text x="92" y="565" fill="#15243a" font-weight="700">起点</text><text x="1050" y="148" fill="#15243a" font-weight="700">终点</text><path d="M145 515 l70 -26" stroke="#1976d2" stroke-width="4" marker-end="url(#arrow-blue)"/><text x="148" y="490" fill="#1976d2">行驶方向</text></g> <text x="92" y="502" fill="#15243a" font-weight="700">起点</text><text x="1050" y="73" fill="#15243a" font-weight="700">终点</text><path d="M145 462 h70" stroke="#1976d2" stroke-width="4" marker-end="url(#arrow-blue)"/><text x="148" y="447" fill="#1976d2">行驶方向</text></g>
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<g class="scene-layer scene-1"><rect x="290" y="184" width="400" height="340" rx="18" fill="#dbeeff" opacity=".7"/><line x1="290" y1="180" x2="290" y2="535" stroke="#1976d2" stroke-width="4" stroke-dasharray="10 8"/><line x1="690" y1="180" x2="690" y2="535" stroke="#1976d2" stroke-width="4" stroke-dasharray="10 8"/><text x="300" y="210" fill="#1976d2" font-weight="700">局部窗口：只处理跳变附近</text><text x="252" y="555" fill="#1976d2">窗口边界</text><text x="650" y="555" fill="#1976d2">窗口边界</text></g> <g class="scene-layer scene-1"><rect x="290" y="184" width="400" height="340" rx="18" fill="#dbeeff" opacity=".7"/><line x1="290" y1="180" x2="290" y2="535" stroke="#1976d2" stroke-width="4" stroke-dasharray="10 8"/><line x1="690" y1="180" x2="690" y2="535" stroke="#1976d2" stroke-width="4" stroke-dasharray="10 8"/><text x="300" y="210" fill="#1976d2" font-weight="700">局部窗口：只处理跳变附近</text><text x="252" y="555" fill="#1976d2">窗口边界</text><text x="650" y="555" fill="#1976d2">窗口边界</text></g>
<g class="scene-layer scene-2"><path d="M290 462 h180 M690 258 l150 -96" stroke="#1976d2" stroke-width="4" marker-end="url(#arrow-blue)"/><path d="M310 432 Q350 400 388 438 M660 290 Q700 315 730 270" fill="none" stroke="#1976d2" stroke-width="3" stroke-dasharray="8 7"/><text x="334" y="401" fill="#1976d2">二阶趋势</text><text x="737" y="253" fill="#1976d2">端点切向</text><path id="quintic-candidate" fill="none" stroke="#1976d2" stroke-width="7" stroke-dasharray="13 8"/><text x="430" y="300" fill="#1976d2" font-weight="700">五次 Hermite 候选（位置 + 切向 + 二阶趋势）</text></g> <g class="scene-layer scene-2"><path d="M290 462 h180 M690 258 l156 -100" stroke="#1976d2" stroke-width="4" marker-end="url(#arrow-blue)"/><path d="M310 432 Q350 400 388 438 M660 290 Q700 315 730 270" fill="none" stroke="#1976d2" stroke-width="3" stroke-dasharray="8 7"/><text x="334" y="401" fill="#1976d2">二阶趋势</text><text x="737" y="253" fill="#1976d2">端点切向</text><path id="quintic-candidate" fill="none" stroke="#1976d2" stroke-width="7" stroke-dasharray="13 8"/><text x="430" y="300" fill="#1976d2" font-weight="700">五次 Hermite 候选（位置 + 切向 + 二阶趋势）</text></g>
<g class="scene-layer scene-3"><path id="replacement-candidate" fill="none" stroke="#1d8a5b" stroke-width="10"/><circle cx="290" cy="462" r="13" fill="white" stroke="#1d8a5b" stroke-width="5"/><circle cx="690" cy="258" r="13" fill="white" stroke="#1d8a5b" stroke-width="5"/><text x="245" y="430" fill="#1d8a5b" font-weight="700">替换开始</text><text x="650" y="235" fill="#1d8a5b" font-weight="700">替换结束</text><text x="410" y="520" fill="#1d8a5b" font-weight="700">绿色候选覆盖灰色原折线</text></g> <g class="scene-layer scene-3"><path id="replacement-candidate" fill="none" stroke="#1d8a5b" stroke-width="10"/><circle cx="290" cy="462" r="13" fill="white" stroke="#1d8a5b" stroke-width="5"/><circle cx="690" cy="258" r="13" fill="white" stroke="#1d8a5b" stroke-width="5"/><text x="245" y="430" fill="#1d8a5b" font-weight="700">替换开始</text><text x="650" y="235" fill="#1d8a5b" font-weight="700">替换结束</text><text x="410" y="520" fill="#1d8a5b" font-weight="700">绿色候选覆盖灰色原折线</text></g>
<g class="scene-layer scene-4"><rect x="70" y="70" width="1060" height="245" rx="16" fill="#f0faf5" stroke="#b8dfca"/><path id="continuity-candidate" fill="none" stroke="#1d8a5b" stroke-width="9"/><text x="90" y="105" fill="#1d8a5b" font-weight="700">替换后路径：窗口外不变，接口趋势连续</text><g transform="translate(110 500)"><path d="M0 0V150M0 150H850" stroke="#617086" stroke-width="3"/><text x="-20" y="5" fill="#617086">κ</text><text x="855" y="160" fill="#617086">s</text><path d="M60 118 L290 118 L300 38 L520 38" stroke="#c33b3b" stroke-width="6" fill="none"/><path d="M60 118 C230 118 280 106 355 84 S465 46 520 38" stroke="#1d8a5b" stroke-width="6" fill="none"/><text x="535" y="43" fill="#c33b3b">原始跳变</text><text x="535" y="73" fill="#1d8a5b">候选连续过渡</text><text x="520" y="130" fill="#617086">趋势示意，非实测数据</text></g></g> <g class="scene-layer scene-4"><rect x="70" y="70" width="1060" height="420" rx="16" fill="#f0faf5" stroke="#b8dfca"/><path id="continuity-candidate" fill="none" stroke="#1d8a5b" stroke-width="9"/><text x="90" y="105" fill="#1d8a5b" font-weight="700">替换后路径：窗口外不变，接口趋势连续</text><g transform="translate(110 530)"><path d="M0 0V150M0 150H850" stroke="#617086" stroke-width="3"/><text x="-20" y="5" fill="#617086">κ</text><text x="855" y="160" fill="#617086">s</text><path d="M60 118 L290 118 L300 38 L520 38" stroke="#c33b3b" stroke-width="6" fill="none"/><path d="M60 118 C230 118 280 106 355 84 S465 46 520 38" stroke="#1d8a5b" stroke-width="6" fill="none"/><text x="535" y="43" fill="#c33b3b">原始跳变</text><text x="535" y="73" fill="#1d8a5b">候选连续过渡</text><text x="520" y="130" fill="#617086">趋势示意，非实测数据</text></g></g>
<g class="scene-layer scene-5"><path id="safety-candidate" fill="none" stroke="#1d8a5b" stroke-width="36" opacity=".18"/><path id="accepted-candidate" fill="none" stroke="#1d8a5b" stroke-width="8"/><g fill="#fff" stroke="#1d8a5b" stroke-width="4"><circle cx="300" cy="462" r="13"/><circle cx="500" cy="382" r="13"/><circle cx="680" cy="266" r="13"/></g><g fill="#1d8a5b" font-weight="700"><text x="720" y="370">✓ 碰撞（完整车体安全）</text><text x="720" y="402">✓ 净空</text><text x="720" y="434">✓ 曲率</text><text x="720" y="466">✓ 偏移</text></g><g transform="translate(320 435) rotate(0)"><rect x="-28" y="-15" width="56" height="30" rx="6" fill="#fff" stroke="#1d8a5b" stroke-width="4"/><circle cx="-17" cy="18" r="5"/><circle cx="17" cy="18" r="5"/></g><g transform="translate(500 348) rotate(-30)"><rect x="-28" y="-15" width="56" height="30" rx="6" fill="#fff" stroke="#1d8a5b" stroke-width="4"/><circle cx="-17" cy="18" r="5"/><circle cx="17" cy="18" r="5"/></g><g transform="translate(660 278) rotate(-28)"><rect x="-28" y="-15" width="56" height="30" rx="6" fill="#fff" stroke="#1d8a5b" stroke-width="4"/><circle cx="-17" cy="18" r="5"/><circle cx="17" cy="18" r="5"/></g><text x="90" y="90" fill="#1d8a5b" font-size="18">通过质量门后才接受候选；任一门阻断则回退原路径</text><text x="90" y="120" fill="#617086" font-size="16">车辆轮廓为机制示意，非实测数据</text></g> <g class="scene-layer scene-5"><path id="safety-candidate" fill="none" stroke="#1d8a5b" stroke-width="36" opacity=".18"/><path id="accepted-candidate" fill="none" stroke="#1d8a5b" stroke-width="8"/><g fill="#fff" stroke="#1d8a5b" stroke-width="4"><circle cx="300" cy="462" r="13"/><circle cx="500" cy="382" r="13"/><circle cx="680" cy="266" r="13"/></g><g fill="#1d8a5b" font-weight="700"><text x="720" y="370">✓ 碰撞（完整车体安全）</text><text x="720" y="402">✓ 净空</text><text x="720" y="434">✓ 曲率</text><text x="720" y="466">✓ 偏移</text></g><g transform="translate(320 435) rotate(0)"><rect x="-28" y="-15" width="56" height="30" rx="6" fill="#fff" stroke="#1d8a5b" stroke-width="4"/><circle cx="-17" cy="18" r="5"/><circle cx="17" cy="18" r="5"/></g><g transform="translate(500 348) rotate(-30)"><rect x="-28" y="-15" width="56" height="30" rx="6" fill="#fff" stroke="#1d8a5b" stroke-width="4"/><circle cx="-17" cy="18" r="5"/><circle cx="17" cy="18" r="5"/></g><g transform="translate(660 278) rotate(-28)"><rect x="-28" y="-15" width="56" height="30" rx="6" fill="#fff" stroke="#1d8a5b" stroke-width="4"/><circle cx="-17" cy="18" r="5"/><circle cx="17" cy="18" r="5"/></g><text x="90" y="90" fill="#1d8a5b" font-size="18">通过质量门后才接受候选；任一门阻断则回退原路径</text><text x="90" y="120" fill="#617086" font-size="16">车辆轮廓为机制示意，非实测数据</text><path d="M1020 478V500" fill="none" stroke="#c33b3b" stroke-width="3" stroke-dasharray="7 6" marker-end="url(#arrow-red)"/><rect x="720" y="515" width="390" height="72" rx="10" fill="#fff0f1" stroke="#c33b3b" stroke-width="3"/><text x="742" y="543" fill="#c33b3b" font-weight="700">条件分支：任一门失败</text><text x="742" y="570" fill="#c33b3b" font-weight="700">拒绝候选 → 回退灰色原路径</text></g>
<g transform="translate(80 675)"><rect width="22" height="12" fill="#9aa6b5"/><text x="30" y="12" fill="#617086">原始粗路径</text><rect x="185" width="22" height="12" fill="#1976d2"/><text x="215" y="12" fill="#617086">窗口/约束</text><rect x="340" width="22" height="12" fill="#1d8a5b"/><text x="370" y="12" fill="#617086">已接受候选</text><rect x="535" width="22" height="12" fill="#bd7900"/><text x="565" y="12" fill="#617086">发布边界</text><rect x="705" width="22" height="12" fill="#c33b3b"/><text x="735" y="12" fill="#617086">拒绝/阻断</text></g> <g transform="translate(80 675)"><rect width="22" height="12" fill="#9aa6b5"/><text x="30" y="12" fill="#617086">原始粗路径</text><rect x="185" width="22" height="12" fill="#1976d2"/><text x="215" y="12" fill="#617086">窗口/约束</text><rect x="340" width="22" height="12" fill="#1d8a5b"/><text x="370" y="12" fill="#617086">已接受候选</text><rect x="535" width="22" height="12" fill="#bd7900"/><text x="565" y="12" fill="#617086">发布边界</text><rect x="705" width="22" height="12" fill="#c33b3b"/><text x="735" y="12" fill="#617086">拒绝/阻断</text></g>
</svg> </svg>
</section> </section>
@@ -66,8 +66,8 @@
<script> <script>
const hermite = { const hermite = {
p0: { x: 290, y: 462 }, p1: { x: 690, y: 258 }, p0: { x: 290, y: 462 }, p1: { x: 690, y: 258 },
d0: { x: 180, y: 0 }, d1: { x: 210, y: -135 }, d0: { x: 180, y: 0 }, d1: { x: 195, y: -125 },
a0: { x: 0, y: -18 }, a1: { x: 22, y: -12 } a0: { x: 0, y: 0 }, a1: { x: 0, y: 0 }
}; };
function quinticBasis(t) { function quinticBasis(t) {
const t2 = t * t, t3 = t2 * t, t4 = t3 * t, t5 = t4 * t; const t2 = t * t, t3 = t2 * t, t4 = t3 * t, t5 = t4 * t;
dailywork_report/pathsmoothing_rep/02-local-g2-issues-and-next-actions-visualization.html
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@@ -21,7 +21,7 @@
button:focus-visible { outline:3px solid #f0ad32; outline-offset:3px; } button:focus-visible { outline:3px solid #f0ad32; outline-offset:3px; }
.issue-stage { background:var(--panel); border:1px solid var(--line); border-radius:16px; padding:22px; box-shadow:0 4px 12px #15364d0d; } .issue-stage { background:var(--panel); border:1px solid var(--line); border-radius:16px; padding:22px; box-shadow:0 4px 12px #15364d0d; }
#issue-evidence { display:inline-block; margin-bottom:5px; color:var(--info); font-size:.87rem; font-weight:800; } #issue-evidence { display:inline-block; margin-bottom:5px; color:var(--info); font-size:.87rem; font-weight:800; }
.visual-wrap { overflow-x:auto; margin:18px -4px; padding:4px; } #issue-visual { display:block; width:100%; min-width:870px; height:auto; } .visual-wrap { margin:18px -4px; padding:4px; } #issue-visual { display:block; width:100%; height:auto; }
.issue-scene { display:none; } #local-g2-issue-demo[data-issue="baseline"] .issue-scene[data-issue="baseline"], #local-g2-issue-demo[data-issue="window"] .issue-scene[data-issue="window"], #local-g2-issue-demo[data-issue="arclength"] .issue-scene[data-issue="arclength"] { display:block; } .issue-scene { display:none; } #local-g2-issue-demo[data-issue="baseline"] .issue-scene[data-issue="baseline"], #local-g2-issue-demo[data-issue="window"] .issue-scene[data-issue="window"], #local-g2-issue-demo[data-issue="arclength"] .issue-scene[data-issue="arclength"] { display:block; }
.compare-copy { display:grid; grid-template-columns:repeat(3,1fr); gap:13px; } .compare-copy article { border:1px solid var(--line); border-radius:10px; padding:14px; } .compare-copy article:nth-child(1) { border-top:4px solid var(--actual); } .compare-copy article:nth-child(2) { border-top:4px solid var(--expected); } .compare-copy article:nth-child(3) { border-top:4px solid var(--info); } .compare-copy p { margin-bottom:0; } .compare-copy { display:grid; grid-template-columns:repeat(3,1fr); gap:13px; } .compare-copy article { border:1px solid var(--line); border-radius:10px; padding:14px; } .compare-copy article:nth-child(1) { border-top:4px solid var(--actual); } .compare-copy article:nth-child(2) { border-top:4px solid var(--expected); } .compare-copy article:nth-child(3) { border-top:4px solid var(--info); } .compare-copy p { margin-bottom:0; }
.next-action { margin:15px 0 0; padding:12px 14px; border-radius:9px; background:#edf4f7; } .issue-controls { justify-content:space-between; margin-top:14px; } .issue-controls button { background:#eaf2f5; } .next-action { margin:15px 0 0; padding:12px 14px; border-radius:9px; background:#edf4f7; } .issue-controls { justify-content:space-between; margin-top:14px; } .issue-controls button { background:#eaf2f5; }