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 +9,11 @@ namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
 public sealed class PreparedDirectionSegment
 {
    /// <summary>创建不可变方向段。</summary>
+    /// <param name="segmentIndex">在 <see cref="PreparedPath.Segments"/> 中从零开始的段索引。</param>
+    /// <param name="direction">本段唯一的车辆行驶方向。</param>
+    /// <param name="points">本段的非空采样点集合；构造后会复制为只读快照。</param>
+    /// <param name="startsAtGearSwitch">若首点紧随换向，则为 <see langword="true"/>。</param>
+    /// <param name="endsAtGearSwitch">若末点紧邻换向，则为 <see langword="true"/>。</param>
    public PreparedDirectionSegment(
        int segmentIndex,
        TravelDirection direction,
@@ -20,6 +25,12 @@ public sealed class PreparedDirectionSegment
    }

    /// <summary>创建带有真实起始车辆曲率边界状态的不可变方向段。</summary>
+    /// <param name="segmentIndex">在 <see cref="PreparedPath.Segments"/> 中从零开始的段索引。</param>
+    /// <param name="direction">本段唯一的车辆行驶方向。</param>
+    /// <param name="points">本段的非空采样点集合；构造后会复制为只读快照。</param>
+    /// <param name="startsAtGearSwitch">若首点紧随换向，则为 <see langword="true"/>。</param>
+    /// <param name="endsAtGearSwitch">若末点紧邻换向，则为 <see langword="true"/>。</param>
+    /// <param name="startVehicleCurvaturePerMeter">物理起点车辆曲率边界，单位 1/m；未知时为 <see langword="null"/>。</param>
    public PreparedDirectionSegment(
        int segmentIndex,
        TravelDirection direction,