ParkingRobot/docs/superpowers/plans/2026-08-03-local-g2-only-path-smoothing-reorganization.md

LocalG2-Only PathSmoothing Reorganization Implementation Plan

For agentic workers: REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development or superpowers:executing-plans to execute this plan task-by-task. Steps use checkbox (- [ ]) syntax for tracking.

Goal: Convert PathSmoothing into a LocalG2-only module, remove the three legacy smoothing algorithms, preserve LocalG2 visualization and fixture workflows, and organize the source tree and README using the established CoarsePath module pattern.

Architecture: The production facade always runs the LocalG2 pipeline. Shared path preparation and validation remain intact; B-spline, local Bezier, and piecewise quintic implementations and their configuration are removed. Offline reports remain a factual comparison of raw coarse path versus LocalG2 only, with visualization sources placed below an Output layer like CoarsePath.

Tech Stack: C# 10, .NET SDK, Newtonsoft.Json, existing System.Drawing/StbImageWriteSharp report exporter, PowerShell verification hosts.

Global Constraints

• Do not read, search, enumerate, copy, modify, delete, stage, or commit ClumsyPilot/ParkrobTrajplanner/auto_avoidance; do not enumerate ClumsyPilot/ParkrobTrajplanner as a parent.
• Preserve LocalG2 candidate construction, validation, publication statuses, fixture data, diagnostic candidate visualization, and generated report artifacts below ClumsyPilot/obj/path_smoothing_reports.
• Remove all production references to CubicBSpline, LocalCubicBezier, and PiecewiseQuintic smoothing.
• Retain the raw-path baseline in reports. Normal reports must contain only raw and LocalG2 series and four figures; diagnostic reports may append the already-rejected LocalG2 candidate as a fifth figure.
• Maintain current default MinimumClearanceReserveMeters = 0d.
• Do not delete unrelated user work or generated report directories.

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Task 1: Establish a LocalG2-only verification contract

Files:

• Modify: ClumsyPilot/tests/verify_path_smoothing_comparison.ps1
• Modify: ClumsyPilot/tests/verify_path_smoothing_svg_csv.ps1
• Modify: ClumsyPilot/tests/PathSmoothingPngVerificationHost/Program.cs

Interfaces:

• The comparison request exposes exactly one requested method: SmoothingMethod.LocalG2Quintic.

• A normal report has a raw baseline plus one LocalG2 row/series; the diagnostic report retains its optional rejected candidate figure.

• Add failing assertions that reject the three removed enum names, require one requested comparison method, require two normal figure series, and require exactly two CSV rows after the header.

• Run the focused PowerShell checks and confirm they fail against the four-algorithm implementation.

• Update host assertions for the new two-series normal report while retaining the seven-file diagnostic contract.

• Re-run the focused checks after Tasks 2 and 3 and record the exit codes.

Task 2: Remove legacy algorithms and simplify the production facade

Files:

• Delete: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Algorithms/
• Delete: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/CubicBSplineOptions.cs
• Delete: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/LocalCubicBezierOptions.cs
• Delete: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PiecewiseQuinticOptions.cs
• Modify: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/SmoothingMethod.cs
• Modify: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingConfiguration.cs
• Modify: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRequest.cs
• Modify: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingResult.cs
• Modify: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Facade/PathSmoothingService.cs

Interfaces:

• SmoothingMethod retains only LocalG2Quintic.

• PathSmoothingConfiguration defaults Method to LocalG2Quintic and exposes only shared safety/sampling fields and LocalG2Quintic options.

• PathSmoothingService.Smooth(request, cancellationToken) directly validates/prepares/builds the raw baseline and invokes LocalG2PreSmoothingPipeline.

• Delete legacy source files only after their callers are removed.

• Remove legacy smoothness/retry configuration and cloning code; preserve output spacing, collision step, clearance reserve, and LocalG2 options.

• Replace the multi-method resolver and fallback path in PathSmoothingService with its LocalG2-only route.

• Compile the isolated PathSmoothing host and confirm no source references to the removed methods remain in allowed paths.

Task 3: Reorganize report sources into an Output layer and reduce the report model

Files:

• Move: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Comparison/ to ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Output/Comparison/
• Move: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/ to ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Output/Visualization/
• Delete: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Output/Comparison/SmoothingMethodRanker.cs
• Modify: moved comparison request/result/service consumers and all moved visualization files.

Interfaces:

• PathSmoothingComparisonRequest owns one immutable LocalG2 request rather than a caller-selectable method list.

• PathSmoothingComparisonResult contains a raw baseline and exactly one LocalG2 entry.

• Normal figure and CSV builders emit RawPath and LocalG2Quintic only.

• Move source directories with their namespaces changed from PathSmoothing.Comparison and PathSmoothing.Visualization to PathSmoothing.Output.Comparison and PathSmoothing.Output.Visualization.

• Simplify comparison execution to warm up and measure LocalG2 only; retain deterministic timing/digest behavior for its sole entry.

• Remove visual style colors, legend rows, labels, metric rows, and all source references for the three deleted algorithms.

• Publish four normal figures with stable stems 01-coarse-path-overview, 02-all-paths-comparison, 03-local-g2-overview, and 04-curvature-comparison; append 05-local-g2-diagnostic-candidate only to an augmented diagnostic model.

• Update all allowed source/test imports to the new Output namespaces.

Task 4: Align test/demo entry points and document the module

Files:

• Modify: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/PathSmoothingComparisonDemo.cs
• Modify: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFactory.cs
• Modify: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/LocalG2DiagnosticVisualizationDemo.cs
• Create: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/README.md

Interfaces:

• Fixture reports use the LocalG2-only comparison request and retain all eight fixtures.

• The README mirrors the CoarsePath/README.md information architecture for LocalG2 inputs, safety gates, result statuses, report output, and known limitations.

• Update test/demo imports and expected report shapes for the Output namespaces and LocalG2-only model.

• Create README.md with the following ordered sections: Module Overview, File Structure, Smoothing Data Flow, Result Status and Publication Rules, Coordinates and Units, Minimal Call Example, Detailed Usage Guide, Fixture Reports and Visualization, Common Errors, and First-Version Limits.

• State explicitly that a candidate passing collision validation may still be retained when its quality gate fails, and that 0 m reserve removes only the additional clearance reserve, not collision or curvature checks.

Task 5: Verify source layout and retain visualization artifacts

Files:

• Verify: ClumsyPilot/ParkrobTrajplanner/PathSmoothing/

• Verify: ClumsyPilot/obj/path_smoothing_reports/

• Build and run the isolated current-source LocalG2 visualization host against all eight fixture scenarios.

• Confirm all normal report directories contain the expected four PNG/SVG figures and CSV, and that 02-all-paths-comparison.png presents raw plus LocalG2 only.

• Run the focused comparison/SVG/diagnostic verification scripts where their dependencies are available; report any root-build limitation separately.

• Inspect at least the single-turn normal report and 05-local-g2-diagnostic-candidate.png to confirm LocalG2 labels, nonblank rendering, and retained diagnostic semantics.

• Update .superpowers/sdd/progress.md with the actual cleanup results and verification evidence.