fix: cover Local G2 window targets before splits

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2WindowPlanner.cs

@@ -106,12 +106,25 @@ internal sealed class LocalG2WindowPlanner
         double firstEvent = transitions[0].LocalArcLengthMeters;
         double lastEvent = transitions[transitions.Count - 1].LocalArcLengthMeters;
         double anchor = (firstEvent + lastEvent) / 2d;
-        foreach (double target in BuildTargets(options, segmentLength))
+        IReadOnlyList<double> targets = BuildTargets(options, segmentLength);
+        double[] ratios = { 0.5d, 0.4d, 0.6d };
+        for (int ratioIndex = 0; ratioIndex < ratios.Length; ratioIndex++)
         {
-            if (variants.Count >= options.MaximumCandidatesPerRegion) break;
+            for (int targetIndex = 0; targetIndex < targets.Count; targetIndex++)
-            AddIfLegal(variants, target, 0.5d, anchor, firstEvent, lastEvent, segmentLength, true, options);
+            {
-            AddIfLegal(variants, target, 0.4d, anchor, firstEvent, lastEvent, segmentLength, false, options);
+                if (variants.Count >= options.MaximumCandidatesPerRegion)
-            AddIfLegal(variants, target, 0.6d, anchor, firstEvent, lastEvent, segmentLength, false, options);
+                    return new ReadOnlyCollection<LocalG2WindowVariant>(variants);
+                AddIfLegal(
+                    variants,
+                    targets[targetIndex],
+                    ratios[ratioIndex],
+                    anchor,
+                    firstEvent,
+                    lastEvent,
+                    segmentLength,
+                    ratioIndex == 0,
+                    options);
+            }
         }
         return new ReadOnlyCollection<LocalG2WindowVariant>(variants);
     }
@@ -160,10 +173,10 @@ internal sealed class LocalG2WindowPlanner
         double[] requested =
         {
             options.PreferredWindowLengthMeters,
-            0.75d * options.PreferredWindowLengthMeters,
-            1.25d * options.PreferredWindowLengthMeters,
             options.MinimumWindowLengthMeters,
             options.MaximumWindowLengthMeters,
+            0.75d * options.PreferredWindowLengthMeters,
+            1.25d * options.PreferredWindowLengthMeters,
         };
         var targets = new List<double>(requested.Length);
         for (int index = 0; index < requested.Length; index++)
@@ -262,6 +275,10 @@ internal sealed class LocalG2WindowPlanner
                     transitions = new[] { Transition(0.1d, 0) };
                     segmentLength = 1d;
                     break;
+                case "InteriorCoverage":
+                    transitions = new[] { Transition(1d, 0) };
+                    segmentLength = 2d;
+                    break;
                 default:
                     throw new ArgumentOutOfRangeException(nameof(scenario));
             }
@@ -305,7 +322,25 @@ internal sealed class LocalG2WindowPlanner
                 exactEnvelope &= Math.Abs(region.MaximumEndArcLengthMeters - maximumEnd) <= 1e-9d;
             }
 
-            LocalG2WindowVariant first = regions[0].WindowVariants[0];
+            IReadOnlyList<LocalG2WindowVariant> firstVariants = regions[0].WindowVariants;
+            bool representativeTargetsFirst =
+                firstVariants.Count >= 3 &&
+                Math.Abs(WindowLength(firstVariants[0]) - 0.50d) <= 1e-9d &&
+                Math.Abs(WindowLength(firstVariants[1]) - 0.20d) <= 1e-9d &&
+                Math.Abs(WindowLength(firstVariants[2]) - 0.80d) <= 1e-9d;
+            bool hasAsymmetricVariant = false;
+            for (int index = 0; index < firstVariants.Count; index++)
+            {
+                if (Math.Abs(
+                        firstVariants[index].LeftWindowLengthMeters -
+                        firstVariants[index].RightWindowLengthMeters) > 1e-9d)
+                {
+                    hasAsymmetricVariant = true;
+                    break;
+                }
+            }
+
+            LocalG2WindowVariant first = firstVariants[0];
             return new WindowPlanningTestSnapshot(
                 regions.Count,
                 string.Join(",", counts),
@@ -313,7 +348,10 @@ internal sealed class LocalG2WindowPlanner
                 exactEnvelope,
                 first.LeftWindowLengthMeters,
                 first.RightWindowLengthMeters,
-                string.Join("|", signature));
+                string.Join("|", signature),
+                firstVariants.Count,
+                representativeTargetsFirst,
+                hasAsymmetricVariant);
         }
 
         public sealed class WindowPlanningTestSnapshot
@@ -325,7 +363,10 @@ internal sealed class LocalG2WindowPlanner
                 bool exactEnvelope,
                 double firstLeftLength,
                 double firstRightLength,
-                string signature)
+                string signature,
+                int firstRegionVariantCount,
+                bool representativeTargetsFirst,
+                bool hasAsymmetricVariant)
             {
                 RegionCount = regionCount;
                 TransitionCounts = transitionCounts;
@@ -334,6 +375,9 @@ internal sealed class LocalG2WindowPlanner
                 FirstLeftLength = firstLeftLength;
                 FirstRightLength = firstRightLength;
                 Signature = signature;
+                FirstRegionVariantCount = firstRegionVariantCount;
+                RepresentativeTargetsFirst = representativeTargetsFirst;
+                HasAsymmetricVariant = hasAsymmetricVariant;
             }
 
             public int RegionCount { get; }
@@ -343,8 +387,14 @@ internal sealed class LocalG2WindowPlanner
             public double FirstLeftLength { get; }
             public double FirstRightLength { get; }
             public string Signature { get; }
+            public int FirstRegionVariantCount { get; }
+            public bool RepresentativeTargetsFirst { get; }
+            public bool HasAsymmetricVariant { get; }
         }
 
+        private static double WindowLength(LocalG2WindowVariant variant) =>
+            variant.EndArcLengthMeters - variant.StartArcLengthMeters;
+
         private static CurvatureTransition Transition(double arcLength, int index)
         {
             return new CurvatureTransition(

ClumsyPilot/tests/verify_path_smoothing_local_g2_detection.ps1

@@ -116,7 +116,15 @@ Assert-True ($boundary.FirstRightLength -gt $boundary.FirstLeftLength) `
 Assert-True ($boundary.MaximumWindowLength -le 0.80 + 1e-9) `
     'No candidate window may exceed 0.80 m total length.'
 
-foreach ($snapshot in @($separated, $mergeable, $partition, $boundary)) {
+$coverage = $planScenario.Invoke($null, @('InteriorCoverage'))
+Assert-True $coverage.RepresentativeTargetsFirst `
+    'Preferred, minimum, and maximum balanced targets must precede asymmetric variants.'
+Assert-True $coverage.HasAsymmetricVariant `
+    'Default window planning must retain a legal asymmetric variant after balanced coverage.'
+Assert-True ($coverage.FirstRegionVariantCount -le 12) `
+    'Window planning must obey the configured default cap.'
+
+foreach ($snapshot in @($separated, $mergeable, $partition, $boundary, $coverage)) {
     Assert-True $snapshot.ExactEnvelope 'Region envelope must equal the extrema of actual legal variants.'
     Assert-True ($snapshot.MaximumWindowLength -le 0.80 + 1e-9) `
         'MaximumWindowLengthMeters is a total, not a per-side length.'