fix: freeze smoothing request snapshots

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRequest.cs

@@ -8,6 +8,9 @@ namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
 /// <summary>路径平滑所需的原始粗路径、复核上下文和配置。</summary>
 public sealed class PathSmoothingRequest
 {
+    private readonly VehicleParameters _vehicle;
+    private readonly PathSmoothingConfiguration _configuration;
+
     /// <summary>创建路径平滑请求，并复制粗路径和方向分段集合。</summary>
     public PathSmoothingRequest(
         IReadOnlyList<CoarsePathPoint> coarsePath,
@@ -19,8 +22,8 @@ public sealed class PathSmoothingRequest
         CoarsePath = CopyReadOnly(coarsePath);
         Segments = CopyReadOnly(segments);
         Map = map;
-        Vehicle = CopyVehicle(vehicle);
-        Configuration = CopyConfiguration(configuration);
+        _vehicle = CopyVehicle(vehicle);
+        _configuration = CopyConfiguration(configuration);
     }
 
     /// <summary>原始粗路径的不可变快照。</summary>
@@ -32,11 +35,11 @@ public sealed class PathSmoothingRequest
     /// <summary>用于平滑后完整车体复核的规划栅格地图。</summary>
     public PlanningGridMap Map { get; }
 
-    /// <summary>车辆几何与最大曲率约束。</summary>
-    public VehicleParameters Vehicle { get; }
+    /// <summary>车辆几何与最大曲率约束的不可变快照副本。</summary>
+    public VehicleParameters Vehicle => CopyVehicle(_vehicle);
 
-    /// <summary>本次平滑的配置。</summary>
-    public PathSmoothingConfiguration Configuration { get; }
+    /// <summary>本次平滑配置的不可变快照副本。</summary>
+    public PathSmoothingConfiguration Configuration => CopyConfiguration(_configuration);
 
     private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)
     {