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 +9,19 @@ namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.LocalG2;
 /// <summary>一个尚未经过安全和质量评价的局部 G2 替换几何。</summary>
 internal sealed class LocalG2CandidateGeometry
 {
+    /// <summary>创建尚未通过安全与质量门的局部 G2 候选几何快照。</summary>
+    /// <param name="candidateIndex">区域内候选的稳定从零开始索引。</param>
+    /// <param name="segmentIndex">候选所属方向段索引。</param>
+    /// <param name="startArcLengthMeters">替换窗口起点弧长，单位 m。</param>
+    /// <param name="endArcLengthMeters">替换窗口终点弧长，单位 m。</param>
+    /// <param name="leftWindowLengthMeters">过渡点左侧窗口长度，单位 m。</param>
+    /// <param name="rightWindowLengthMeters">过渡点右侧窗口长度，单位 m。</param>
+    /// <param name="regionPoints">含精确边界端点的候选采样点只读集合。</param>
+    /// <param name="startVehicleCurvaturePerMeter">窗口起点车辆曲率，单位 1/m。</param>
+    /// <param name="endVehicleCurvaturePerMeter">窗口终点车辆曲率，单位 1/m。</param>
+    /// <param name="startGeometricCurvaturePerMeter">窗口起点几何曲率，单位 1/m。</param>
+    /// <param name="endGeometricCurvaturePerMeter">窗口终点几何曲率，单位 1/m。</param>
+    /// <param name="internalConnectionsAreG2">候选内部连接是否满足 G2 连续性。</param>
    internal LocalG2CandidateGeometry(
        int candidateIndex,
        int segmentIndex,