499 KiB
499 KiB
Local G2 Minimum Curvature Excursion Feasibility Report
Result
- Final state:
QUALITY_RED - Underlying state without performance gate:
QUALITY_RED - Authorization boundary: no evaluator change
- Selected stable key:
not evaluated
Isolation And Identity
- Shared baseline commit:
da9157b17a7e4206ed4cdebd1985ee2577fae480 - Frozen core/strict commit:
3006aa0fd8dac8e4665ff3b89b7cda139e88e940 - Measurement commit:
c92c9c5b8e1995f61d4685f9a6ee23a6f8d5f825 - Strict root:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\strict-root-3006aa0 - Measurement root:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\measurement-root-3006aa0 - Measurement commit parent:
3006aa0fd8dac8e4665ff3b89b7cda139e88e940 - Measurement commit changed path:
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2CandidateEvaluator.cs - Fixture SHA-256:
3d05daee5a211b3e7aa0b77193423b5fa07d3135e241a4413be3518fc7efe563 - Shared evaluator SHA-256:
929c24eb7acf4da621a397173375987801bd9e44d98193c173793d3a1ccf1aa3 - Strict evaluator SHA-256:
929c24eb7acf4da621a397173375987801bd9e44d98193c173793d3a1ccf1aa3 - Measurement evaluator SHA-256:
ab2846dd32b7dd8ffb4464d567cb464d12f74b5b8f93c86ba9ff8d5daff7511e - Probe-source manifest SHA-256:
9e2129a80db9bb8cff44ef4b4b5079c4e9fc7c4d3b65ab5a369c4197bdb9a8ea - Frozen core JSON:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\frozen-core.json(SHA-25608ba3ccbf7fcc3d6d34a83d98f8adcec169f58280d3f3ae884602c489823ccfa) - Frozen canonical source manifest:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\frozen-core-probe-source-manifest.txt(raw-byte SHA-2569e2129a80db9bb8cff44ef4b4b5079c4e9fc7c4d3b65ab5a369c4197bdb9a8ea) - Strict-vs-shared-baseline complete diff:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\strict-vs-shared-baseline.diff(SHA-256188ec729925393428c7a6a58aabd128244a4bb1d3f47c2cec552d65a4ae11982) - Measurement evaluator diff:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\measurement-evaluator.diff(SHA-256d95e7c1007208e0647ccbb86771fb2e13e5a45f1c8b79ade2e2a3527762605fd) - Measurement commit history proof:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\measurement-commit-history-proof.json(SHA-256b3a3a7656ac9bcc638f881a968b09dc050462c4627f03b579ed62e62783692a0)
Frozen Probe Source Manifest
The following canonical path/SHA-256 entries bind every reported probe source.
.gitattributes 705fd4d6451a31d36b3df7de96f83f30ac976c9b4a6d1e51671d8e2f33e2d0da
ClumsyPilot/ClumsyPilot.csproj b0c0485b2baca817ac96fde51c4c2b61a22bd0c2275d7ae6abb142214d822988
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Algorithms/CubicBSplineSmoother.cs 9b0a0618af3858f3089086fceb3463040fde3242d01df212c58d71f5a91440ce
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Algorithms/IPathSmoother.cs f65b1207e54c344b825907e8181f28cf3732a153d1564510f49c851b90f78569
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Algorithms/LocalCubicBezierSmoother.cs cc5d3fbe6bfdc3655e9f21c177b2e18cc82871ceb5cc1ee47ab90e5aad468611
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Algorithms/PiecewiseQuinticSmoother.cs d9e3b4c2891eb5a8d00778b3182eb3edecc1f3b9e57fd9a287209ab85d1d91ed
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Algorithms/SmoothingAlgorithmInput.cs 999f643a058673a4b6520416f1d6422effdfd44a6b8351faee3898c0f14f3e47
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Algorithms/SmoothingAlgorithmRunner.cs eaab3e2d1baf73a56e30419fef47e0220fb8e3acfa9a2cc309d6a628c59bc449
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Algorithms/SmoothingCandidate.cs 32b76987f4227be10f9576cdac57b6750a370fb45593605cc7b9847497efc919
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Algorithms/SmoothingOptionsSnapshot.cs aa6684a7745061b2be35e2bd8c6778a0c52a41715f06ba3ab88a2f08e68ce98f
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Comparison/PathSmoothingComparisonEntry.cs d0083b459785ee7a646810d1b39e47be8bfffd111fdbfb90c7e810ec5a061405
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Comparison/PathSmoothingComparisonRequest.cs bac0a1da812cbefad50e2f944c2fad24a0bd4eb043f7b44a95325c795411c034
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Comparison/PathSmoothingComparisonResult.cs ed6333bbc77140ade49f7d60117167592f369c3f32dd08e6b129ac6208342519
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Comparison/SmoothingMethodRanker.cs 8f14263eea1a9f4426ee838d4caddb88c68e99224f32004222d81e3551626a26
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Comparison/SmoothingTimingSummary.cs 037e38ae32dc4fdacc95e397752bb1320b9c61d047150d6f2998a3a5d8ed51de
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Comparison/StableGeometryDigest.cs d6ab8299c5604004d9e0e09c1426f0d88ca0a8f091a7f3b7fc39372f95048bd9
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/CubicBSplineOptions.cs f4f184094b4e9a483b93af457767d72860314780bc600fb536d3e3e7b27f5364
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/LocalCubicBezierOptions.cs 74ef0ce76c75b4b6af9941c4e79be908e9ebe0424132a6ddf1d3d5f535ec5e83
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/LocalG2QuinticOptions.cs 44d6902f7db6bb0c5797db573ce70fe1b1c5ce950a4a26db18948315b894365b
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathQualityMetrics.cs 7c8663ca0430e40d7f5c2c75669c18912cbecdd70cbb4b3ab538efb6021fd03b
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingConfiguration.cs c084bee2ae90e95d25e0d19bc3b6276a8ad4135b32b50d961911cf1bc56860ad
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingDiagnostics.cs a140f4ace9830e3d110b76746b82a913f2335bd360d7791b4e79edea8adf61d9
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRegionFailureReason.cs 881741ccf08b0f8b7aa060e9123d461be949cf4ae6421ae04d5767b92341704b
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRegionReport.cs 98730f489741ffd0cb99c0a8672ca25dc7c7797a84043189820a78fa9c210db5
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRegionStatus.cs 89f7fbb9c529d318c1dd98e7820f5d7f9d39a908e8a934c8a7201401115e26a9
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRequest.cs 7af0dd0bf4f22ccb5e516fdba17a2c91feb9405afd5326a1a4d1ff122a3d0507
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingResult.cs 8bf28d9d7ee4d14692a2720eb71483f6f32433127ac4ab0eb4e2cf6d1c794d8d
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingStatus.cs 43e0428b0fb5ab7dfedf1013308062faa6d82c54dea9043e92d756e9d2529028
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PiecewiseQuinticOptions.cs 25ef83f499c9663599f6cb77d95888d23b43fe1af93521a75f6262eb9d6cf465
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/SmoothedPathPoint.cs 86e994ebee46e3250907b7958910de14672c12563a626bc811707ab2ec19e2dd
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/SmoothedPathPointSource.cs 090e4ea91bd5ed59f4d8233b1c1bb67108f954686ac0601f077ca34cf24410d2
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/SmoothedPathSegment.cs 89c7f461e992d73714ef42e27a08188934dd9a6a416a72bf928d0b3f3b668113
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/SmoothingMethod.cs fabaf74ef20f09c26da1de650ca5efbc9324886b0ce9358493c812f210a400fc
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Facade/PathSmoothingComparisonService.cs d20291071775dfb8326a960c7d01a1d97054ca182d7382a5ead0137a2eee2df4
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Facade/PathSmoothingService.cs d98c78adc7b01dbc6cdc985e891c23da6d0d84e62328b4f30104b08a482c1943
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/ArcLengthCurvatureBezierCurve2D.cs fa32bf227e537519fd525d95ca3e937873e3959273cd0f81197f4d59f740463c
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/CurvatureTransition.cs 37c0cc594ef516d2e933db07e994e0a93ee0126a7a39894fca4216f093d70b97
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/CurvatureTransitionDetector.cs 27c0d7b06f4e3b319aac33a2105a5a23afd793adef89328db15ea16deacd245a
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2CandidateBuilder.cs 5b008f0dff69b2f334aadb0950538e19654a192217cd1914175b8f75cb08650e
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2CandidateGeometry.cs 01f8cbc788182bb123325cfbf7e6548fa599e6cf3d8a909e43e1351dd9ad8607
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2ExcursionProbeDiagnostics.cs 87fec1e39dd1c07ed0fb15589aef3eb43112a1e7b59aac003784fd88df66a575
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2OptionsSnapshot.cs 4085eebfc4da76e4f776c335262ab51882a5a5ad7e71ee2d18525c9364577279
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2PathSplicer.cs 302c227360c06d979cb1014261f34db410112b5be66861e12abe932e34ef926d
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2PoseClosureSolver.cs 21c9866703cf1e4f3f738918aac69c6689ac1247ddcf304b79c0c62dc767b9df
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2PreSmoothingPipeline.cs 51c8999b2ba20313e7051d35a7b95a8a067c91e725b0a650f7bc7c3dcbc57a0c
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2RegionWorkOrder.cs b0a569d009b053b0e48bdbc3385198830a64040403828ed93bb33575fa76715e
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2SmoothingRegion.cs b82552b1dfb949023aef5c50915ae2ddfc4f3a040d927f7a5c3bc12a20ca7e82
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2WindowPlanner.cs 7e16ff91667f68464afcf657d8023211dbfd412e01918ec49bc5d2b18f42e916
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/QuinticHermiteCurve2D.cs fb7cbde6a9951c1d437f4a71546935c906f9f69d1424a89b4722fa07e6fdace1
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Processing/ArcLengthResampler.cs d7cc587508fe7cdea7103fce857be6e82702e08597f30011067ccb5ab9fbcfee
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Processing/PathGeometryAnalysis.cs 3adfdce20d777d2910d121c92f17aab9c22098b8316ca30f8b658ed564f8d3ae
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Processing/PathGeometryAnalyzer.cs 0dbb2861040513765a76fb7f3dff6f6527deba499f49d5dd51ed4977fa8b087a
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Processing/PathReferenceInterpolator.cs d20f5a64e380e4ae7f338d0ed28dbb3b587460fd35bfe383a7696fe91955167f
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Processing/PathSmoothingPreprocessor.cs 390c5267531b9960a3cb75248338a235ccd2d96d088073f6e8cc697a1b5a17d7
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Processing/PreparedDirectionSegment.cs 731488374aa437490c659c3e8aa11393110caf6e2e6f590e1f77ff95f3e9d27f
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Processing/PreparedPath.cs 2cbc2c2eb75b180a6780c571b5c9fd7a94c8bf12f63e1a3d38154ece95675219
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Processing/RawPathBaselineBuilder.cs e525fa34c1067cb4519d846f9c4e46bc2ed6c2b0c150370ad9e5cb7ef91e6359
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Processing/SmoothingPoint2D.cs a9af9650d6f87638d5f145004199ceb292b974c881a164af40543714cb92d831
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/Fixtures/path-smoothing-fixtures.json 3d05daee5a211b3e7aa0b77193423b5fa07d3135e241a4413be3518fc7efe563
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/PathSmoothingComparisonDemo.cs 140366d57a193695f6feb3d06b6ba671eea53e5159d29b79a2f986f6ec4dc01d
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingFixtureGenerator.cs 2b56ad96f59553a10f76417f1ec2c47330009052461182d5ecb152b91c8edc83
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFactory.cs 34300bcea0a8e3e798846e8ffef7c60d05063ec286de25449ec79bba6926a9fc
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFixture.cs bc7b22ac77976705dc01125585ab9e8a4d9e8320f4e465bd38585d5ae80c013d
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFixtureLoader.cs a7c57aa7133e8ed33c41478191b19c527a2297d043444f3b4e46f689da917179
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Validation/SmoothedPathValidator.cs 3b5891fb2749b4a7da252b1b2c9062c8514c0332db5cae5ba44ed787ae708987
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/IeeeFigureStyle.cs 8be3e3ddc4a28eaa0baf551ad8cfe422c93dad3cc15449d14aeb2228bb4fd924
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingCsvWriter.cs 601bd157393ee9966ea599637a52c50e584f4d1dbdd14ab3ff8846b9878fb8f8
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingFigureDefinition.cs f5d4b49c5d3ae6ceb716dbf15a9626aa231a50906327886b71eb5c5a65d3ffc5
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingFigureKind.cs f7c7f1efc7cf2fdc41d4a559ef7ed2e85222d6920b58c644fe37651721ebea36
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingFigureModel.cs b1990262eca967701807d7042126b2c4038e28b2ea10b0de79a58e40b92bc003
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingFigureModelBuilder.cs 9894641d0b129279e85159a8a3ca57d02c976e77cca9c545eadb04c0343a0ab5
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingFigureSetBuilder.cs 329e66096b91561d39e694d84ac86c3d425e54d7805b89bc92f71e86b763fb3f
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingFontResolver.cs c0bbe51e3866f9f8b71b825d1de2fd776521ed8ac5d78c4423c91cb6a98cbf39
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingPngRenderer.cs e35c2e9330b85d234788e472b2ee4c9f9e7b97eb8ca07d32385caa9ea3cd6ac3
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingReportExportRequest.cs 2e44d5fd5c8109567b5c3e34a5d786a8829ed15c934ad39e74c9fed652ea086c
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingReportExportResult.cs f375e5e650bb41dd83d0faa3cda2d4675b34f9ef40fc6610b97b1cfc64302413
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingReportExporter.cs 6aa92a717b01a2c764e0bf8d6798fa6d49ef9cfa48cd0fa25673f9d8cc40459c
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Visualization/SmoothingSvgRenderer.cs 84ba6de6947275429d298a30ec7dc80a2551ad3a87b20e80392799e00bd02672
ClumsyPilot/tests/verify_path_smoothing_local_g2_curvature_probe_curve.ps1 a17ef20fe0b62808c8fd556b234b802b28d6ad31d09837f683b74560d4e41b19
ClumsyPilot/tests/verify_path_smoothing_local_g2_curvature_probe_solver.ps1 61a7604e1a8ebd092e31cfdbaaf1f0c7a9d86daa628b2ea5f16e3d1c611f5847
ClumsyPilot/tests/verify_path_smoothing_local_g2_excursion_probe.ps1 b8e4c84e970316f187b6d8f4fa7a420d68a26a646365a9e871330ff2f52abcd6
Search And Candidate Audit
- Windows/combinations/solver invocations/candidates:
8/24/30/6 - Failed combinations/max intervals/search stop:
18/2/None - Strict/physical/excursion-qualified counts:
0/3/0
Every attempt, hard node, interval control, solver exit, closure/seam metric,
candidate digest, evaluator stop gate, and measurement gate trace is retained
in the candidate audit evidence linked below. Null means not evaluated; it is never rendered as zero.
[
{
"StableKey": "single-turn/s0/r0/w1/seed0",
"CandidateSha256": "0679cda975628b2713d662c4b7a9516831b9d865f7a387a8cbff96fc0a76f6a8",
"StrictCandidateSha256": "0679cda975628b2713d662c4b7a9516831b9d865f7a387a8cbff96fc0a76f6a8",
"MeasurementCandidateSha256": "0679cda975628b2713d662c4b7a9516831b9d865f7a387a8cbff96fc0a76f6a8",
"StrictCandidateContent": {
"PreparedSegmentDirection": 0,
"SegmentIndex": 0,
"WindowStartArcLengthMeters": 1.8999999999999981,
"WindowEndArcLengthMeters": 2.0999999999999983,
"DirectionSign": 1,
"HardNodes": [
{
"X": 2.7076608659177555,
"Y": 1.7136150003593424,
"ReferenceArcLengthMeters": 1.8999999999999981,
"TravelUnwrappedHeadingRadians": 0.79166666666666563,
"GeometricCurvaturePerMeter": 0.41666666666666663,
"VehicleCurvaturePerMeter": 0.41666666666666663
},
{
"X": 2.7764244476704873,
"Y": 1.786210614200662,
"ReferenceArcLengthMeters": 1.9999999999999982,
"TravelUnwrappedHeadingRadians": 0.83333333333333237,
"GeometricCurvaturePerMeter": 0.20833333333333331,
"VehicleCurvaturePerMeter": 0.20833333333333331
},
{
"X": 2.8436656720787941,
"Y": 1.8602282995202657,
"ReferenceArcLengthMeters": 2.0999999999999983,
"TravelUnwrappedHeadingRadians": 0.83333333333333237,
"GeometricCurvaturePerMeter": 0,
"VehicleCurvaturePerMeter": 0
}
],
"CandidatePoints": [
{
"X": 2.7076608659177555,
"Y": 1.7136150003593424,
"ReferenceArcLengthMeters": 1.8999999999999981,
"HeadingRadians": 0.79166666666666563,
"UnwrappedHeadingRadians": 0.79166666666666563,
"Source": 4
},
{
"X": 2.7216585404159015,
"Y": 1.7279002807977561,
"ReferenceArcLengthMeters": 1.9199999999999982,
"HeadingRadians": 0.79933337655263847,
"UnwrappedHeadingRadians": 0.79933337655263847,
"Source": 4
},
{
"X": 2.7355462804754538,
"Y": 1.7422924527500654,
"ReferenceArcLengthMeters": 1.9399999999999982,
"HeadingRadians": 0.807333381316923,
"UnwrappedHeadingRadians": 0.807333381316923,
"Source": 4
},
{
"X": 2.7493087549485469,
"Y": 1.7568044286397639,
"ReferenceArcLengthMeters": 1.9599999999999982,
"HeadingRadians": 0.8166666919149419,
"UnwrappedHeadingRadians": 0.8166666919149419,
"Source": 4
},
{
"X": 2.7629303026032415,
"Y": 1.771448757055422,
"ReferenceArcLengthMeters": 1.9799999999999982,
"HeadingRadians": 0.82633333108200946,
"UnwrappedHeadingRadians": 0.82633333108200946,
"Source": 4
},
{
"X": 2.7764244476704873,
"Y": 1.786210614200662,
"ReferenceArcLengthMeters": 1.9999999999999982,
"HeadingRadians": 0.83333333333333237,
"UnwrappedHeadingRadians": 0.83333333333333237,
"Source": 4
},
{
"X": 2.7898568979963914,
"Y": 1.8010284915422041,
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"AllowedChangedPaths": "ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2CandidateEvaluator.cs",
"StrictAllowedDifferenceSummary": "Complete strict-root source diff from the shared baseline.",
"StrictAllowedDifferencePath": "C:\\Users\\admin\\AppData\\Local\\Temp\\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\\evidence\\strict-vs-shared-baseline.diff",
"StrictAllowedDifferenceSha256": "188ec729925393428c7a6a58aabd128244a4bb1d3f47c2cec552d65a4ae11982",
"StrictSharedBaselineDifferencePath": "C:\\Users\\admin\\AppData\\Local\\Temp\\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\\evidence\\strict-vs-shared-baseline.diff",
"StrictSharedBaselineDifferenceSha256": "188ec729925393428c7a6a58aabd128244a4bb1d3f47c2cec552d65a4ae11982",
"MeasurementAllowedDifferenceSummary": "Only the measurement evaluator raw-range branch and trace capture differ.",
"MeasurementAllowedDifferencePath": "C:\\Users\\admin\\AppData\\Local\\Temp\\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\\evidence\\measurement-evaluator.diff",
"MeasurementEvaluatorDiffSha256": "d95e7c1007208e0647ccbb86771fb2e13e5a45f1c8b79ade2e2a3527762605fd",
"StrictEvaluatorHashProofPath": "C:\\Users\\admin\\AppData\\Local\\Temp\\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\\evidence\\strict-vs-shared-evaluator-hash-proof.json",
"StrictEvaluatorHashProofSha256": "a0869c7b26f8e203dca2361dd39169d60f0a8fd3c9dd58c9697aed7abd5c94e7",
"FrozenCoreJsonPath": "C:\\Users\\admin\\AppData\\Local\\Temp\\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\\evidence\\frozen-core.json",
"FrozenCoreJsonSha256": "08ba3ccbf7fcc3d6d34a83d98f8adcec169f58280d3f3ae884602c489823ccfa",
"FrozenCoreManifestPath": "C:\\Users\\admin\\AppData\\Local\\Temp\\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\\evidence\\frozen-core-probe-source-manifest.txt",
"FrozenCoreManifestSha256": "9e2129a80db9bb8cff44ef4b4b5079c4e9fc7c4d3b65ab5a369c4197bdb9a8ea"
},
"RecordKind": "Canonical",
"CanonicalCandidateIndex": 5,
"EvaluationSourceStableKey": "single-turn/s0/r0/w5/seed2",
"EquivalenceParameters": [
0,
0.25,
0.5,
0.75,
1
],
"MaximumEquivalenceCoordinateDifferenceMeters": 0,
"EvaluatorExecutedDirectly": true,
"StrictResult": "CurvatureOvershoot",
"StrictStopGate": "RawCurvatureRange",
"MeasurementResult": "InsufficientClearance",
"MeasurementStopGate": "Clearance",
"MeasurementReason": "局部 G2 候选净空不足。",
"MeasurementExecutedGates": [
"InputAnalysis",
"VehicleCurvature",
"RawCurvatureRange",
"Deviation",
"FullPathAnalysis",
"CollisionAndMapBoundary",
"Clearance"
],
"MeasurementPassedGates": [
"InputAnalysis",
"VehicleCurvature",
"Deviation",
"FullPathAnalysis",
"CollisionAndMapBoundary"
],
"RawRangeExceeded": true,
"RawMinimumCurvature": 8.21565038222615E-14,
"RawMaximumCurvature": 0.41667044179866869,
"CandidateMinimumCurvature": -0.035866223552879793,
"CandidateMaximumCurvature": 0.41190753089391469,
"HardPhysicalQualified": true,
"Eminus": 0.03586622355296195,
"Eplus": 0,
"Rminus": 0.08607815663175658,
"Rplus": 0,
"VehicleMaximumCurvatureLimitPerMeter": 0.83333333333333337,
"CandidateMaximumAbsoluteVehicleCurvaturePerMeter": 0.41190753089391469,
"AnalyticVehicleCurvatureUtilization": 0.97811107058909919,
"DiscreteVehicleCurvatureUtilization": 0.49428903707269761,
"MaximumDeviationMeters": 6.2208065057631088E-05,
"MaximumDeviationLimitMeters": 0.1,
"CollisionAndMapBoundaryPassed": true,
"MinimumBodyClearanceMeters": "not evaluated",
"MinimumClearanceReserveMeters": 0.02,
"RawPeakCurvatureDerivativePerSquareMeter": "not evaluated",
"CandidatePeakCurvatureDerivativePerSquareMeter": "not evaluated",
"MinimumPeakGradientImprovementRatio": "not evaluated",
"PeakGradientImprovementPercent": "not evaluated",
"RawCurvatureVariationCost": "not evaluated",
"CandidateCurvatureVariationCost": "not evaluated",
"MaximumVariationCostRegressionRatio": "not evaluated",
"VariationCostRegressionPercent": "not evaluated",
"AbsolutePathLengthChangeMeters": "not evaluated",
"StrictEvaluatorElapsedMilliseconds": 0.105,
"MeasurementEvaluatorElapsedMilliseconds": 1.0266,
"StrictPipelineStatus": "Unchanged",
"MeasurementPipelineStatus": "Unchanged",
"Intervals": [
{
"IntervalIndex": 0,
"Accepted": true,
"Failure": "None",
"Reason": "",
"LengthMeters": 0.079999924153600924,
"GeometricC0": 0.41666666666666663,
"GeometricC1": 0.18490902131056236,
"GeometricC2": 0.81509255882424947,
"GeometricC3": 0.24999999999999997,
"VehicleC0": 0.41666666666666663,
"VehicleC1": 0.18490902131056236,
"VehicleC2": 0.81509255882424947,
"VehicleC3": 0.24999999999999997,
"OuterIterationCount": 6,
"DampingTrialCount": 6,
"IntegrationEvaluationCount": 744,
"MaximumIntegrationDepth": 0,
"PreOverwritePositionErrorMeters": 1.147815539419054E-11,
"AnalyticHeadingErrorRadians": 0,
"AnalyticMinimumCurvaturePerMeter": 0.25000000000000011,
"AnalyticMaximumCurvaturePerMeter": 0.49287523451513321,
"AnalyticMaximumGradientPerSquareMeter": 21.190991046663896
},
{
"IntervalIndex": 1,
"Accepted": true,
"Failure": "None",
"Reason": "",
"LengthMeters": 0.12000008571444666,
"GeometricC0": 0.24999999999999997,
"GeometricC1": -0.49999997893024717,
"GeometricC2": 0.2499999789302472,
"GeometricC3": 0,
"VehicleC0": 0.24999999999999997,
"VehicleC1": -0.49999997893024717,
"VehicleC2": 0.2499999789302472,
"VehicleC3": 0,
"OuterIterationCount": 6,
"DampingTrialCount": 6,
"IntegrationEvaluationCount": 648,
"MaximumIntegrationDepth": 0,
"PreOverwritePositionErrorMeters": 1.6841317892909525E-12,
"AnalyticHeadingErrorRadians": 0,
"AnalyticMinimumCurvaturePerMeter": -0.093484688087432849,
"AnalyticMaximumCurvaturePerMeter": 0.24999999999999997,
"AnalyticMaximumGradientPerSquareMeter": 18.749986080383835
}
]
}
]
Performance And Determinism
- Protocol:
5warmups and30measured runs; unique signatures:1. - Solver median/worst:
4.9354500000000012/7.7368ms (limits10/25). - Region median/worst:
10.09185/23.2227ms (limits25/50). - Performance exceeded:
False.
Pipeline And Environment
- Strict pipeline/status key:
Unchanged/not evaluated. - Measurement pipeline/status key:
Unchanged/not evaluated.
{
"Expected": {
"MachineName": "DESKTOP-428CCNK",
"CpuName": "11th Gen Intel Core i5-1135G7 @ 2.40 GHz",
"LogicalProcessorCount": 8,
"TotalMemoryBytes": 16863318016,
"OsDescription": "Windows 10 Pro 10.0.19045",
"PowerShellVersion": "5.1.19041.7548",
"DotNetSdkVersion": "10.0.302",
"BuildConfiguration": "Debug",
"TargetFramework": "netstandard2.0"
},
"Observed": {
"MachineName": "DESKTOP-428CCNK",
"CpuName": "11th Gen Intel Core i5-1135G7 @ 2.40 GHz",
"LogicalProcessorCount": 8,
"TotalMemoryBytes": 16863318016,
"OsDescription": "Windows 10 Pro 10.0.19045",
"PowerShellVersion": "5.1.19041.7548",
"DotNetSdkVersion": "10.0.302",
"BuildConfiguration": "Debug",
"TargetFramework": "netstandard2.0"
},
"FinalGateDiagnosticTimings": {
"StrictChildElapsedMilliseconds": 13547.689,
"MeasurementChildElapsedMilliseconds": 25848.4503,
"PairingElapsedMilliseconds": 3993.6412,
"TwoRootTotalElapsedMilliseconds": 87721.701
}
}
Decision Trace
- Invalid evidence:
False; reasons: `` - Ordered resolution: invalid evidence -> performance -> strict -> physical -> quality -> excursion.
- Result:
QUALITY_RED.
Evidence Paths
- Strict candidate audit JSON:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\strict-audit.json - Measurement 5+30 candidate/timing JSON:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\measurement-batch.json - Strict-vs-shared evaluator hash proof:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\strict-vs-shared-evaluator-hash-proof.json - Strict-vs-shared-baseline complete diff:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\strict-vs-shared-baseline.diff - Measurement evaluator commit
c92c9c5b8e1995f61d4685f9a6ee23a6f8d5f825and diff:C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\measurement-evaluator.diff - Measurement commit history proof:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\measurement-commit-history-proof.json - Frozen Task 3 JSON:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\frozen-core.json - Frozen Task 3 canonical manifest:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\frozen-core-probe-source-manifest.txt - Strict child canonical manifest:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\strict-audit-probe-source-manifest.txt - Measurement child canonical manifest:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\measurement-batch-probe-source-manifest.txt - 30-run timing JSON:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\timing-30-runs.json - State decision trace:
C:\Users\admin\AppData\Local\Temp\local-g2-excursion-15d2c64ed6fd48159b6da4afff0b748f\evidence\state-decision-trace.json
The measurement root changes only the raw-range early-return behavior and non-behavioral trace capture. No probe source is authorized for production.