docs: document smoothing processing core

2026-08-04 14:29:51 +08:00
parent 4a7dd875a4
commit 8f6e97e88f
17 changed files with 153 additions and 11 deletions
@@ -9,6 +9,13 @@ namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.LocalG2;
 /// <summary>从原始粗路径的同向相邻点中识别恒曲率原语边界。</summary>
 internal sealed class CurvatureTransitionDetector
 {
+    /// <summary>检测同一行驶方向内超过阈值的相邻车辆曲率跳变，不跨越换向边界。</summary>
+    /// <param name="request">含粗路径、方向段和配置的平滑请求。</param>
+    /// <param name="maximumVehicleCurvaturePerMeter">车辆允许的最大曲率，单位 1/m。</param>
+    /// <param name="options">已校验的跳变绝对阈值与相对阈值选项。</param>
+    /// <param name="transitions">成功时为只读曲率跳变集合；失败时为空集合。</param>
+    /// <param name="reason">失败原因；成功时为空字符串。</param>
+    /// <returns>输入与检测过程有效时为 <see langword="true"/>；否则为 <see langword="false"/>。</returns>
    internal bool TryDetect(
        PathSmoothingRequest request,
        double maximumVehicleCurvaturePerMeter,