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
@@ -8,6 +8,12 @@ namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
 /// <summary>按方向段局部弧长插值平滑算法的原始路径参考。</summary>
 internal static class PathReferenceInterpolator
 {
+    /// <summary>在同一方向段内按局部弧长线性插值一个几何参考点。</summary>
+    /// <param name="points">弧长非递减的原始段采样点集合。</param>
+    /// <param name="targetArcLength">欲查询的局部弧长，单位 m。</param>
+    /// <param name="reference">成功时为插值或精确命中的参考点；失败时为 <see langword="null"/>。</param>
+    /// <param name="reason">失败原因；成功时为空字符串。</param>
+    /// <returns>目标弧长位于有效输入范围内时为 <see langword="true"/>；否则为 <see langword="false"/>。</returns>
    internal static bool TryInterpolateByArcLength(
        IReadOnlyList<SmoothingPoint2D> points,
        double targetArcLength,