feat: detect local curvature transition regions

ClumsyPilot/tests/verify_path_smoothing_local_g2_detection.ps1

@@ -0,0 +1,58 @@
+param([string]$AssemblyPath = (Join-Path $PSScriptRoot '..\bin\Debug\netstandard2.0\ClumsyPilot.dll'))
+
+$ErrorActionPreference = 'Stop'
+$assembly = [Reflection.Assembly]::LoadFrom((Resolve-Path $AssemblyPath))
+
+function Assert-True($Actual, [string]$Message) {
+    if (-not $Actual) { throw $Message }
+}
+
+function Assert-Equal($Expected, $Actual, [string]$Message) {
+    if ($Expected -ne $Actual) { throw "$Message Expected=$Expected Actual=$Actual" }
+}
+
+function Assert-Near([double]$Expected, [double]$Actual, [double]$Tolerance, [string]$Message) {
+    if ([Math]::Abs($Expected - $Actual) -gt $Tolerance) {
+        throw "$Message Expected=$Expected Actual=$Actual Tolerance=$Tolerance"
+    }
+}
+
+function Get-RequiredType([string]$Name) {
+    return $assembly.GetType($Name, $true)
+}
+
+$detectorType = Get-RequiredType 'MultiWheelC.TrajectoryPlanning.PathSmoothing.LocalG2.CurvatureTransitionDetector'
+$hooksType = $detectorType.GetNestedType('TestHooks', [Reflection.BindingFlags]'Public,NonPublic')
+Assert-True ($null -ne $hooksType) 'CurvatureTransitionDetector must expose its narrowly scoped nested TestHooks helper.'
+$executeMethod = $hooksType.GetMethod('Execute', [Reflection.BindingFlags]'Public,Static')
+Assert-True ($null -ne $executeMethod) 'TestHooks must expose deterministic scenario execution for reflection tests.'
+
+function Invoke-Scenario([string]$Scenario) {
+    return $executeMethod.Invoke($null, @($Scenario))
+}
+
+# Same direction: 0 -> 0.4167 is detected once.
+$singleTransition = Invoke-Scenario 'SingleTransition'
+Assert-Equal 1 $singleTransition.TransitionCount 'One primitive curvature jump must be detected.'
+Assert-Near 0.4167 $singleTransition.MaximumJump 0.0001 'The jump magnitude must be retained.'
+
+# Same pose at a forward/reverse boundary: no event crosses the stop.
+$gearSwitch = Invoke-Scenario 'GearSwitch'
+Assert-Equal 0 $gearSwitch.TransitionCount 'A stopped gear switch must not be a smoothing event.'
+
+# A 0.01 1/m numerical change is below max(0.001, 5% of 0.8333).
+$noise = Invoke-Scenario 'Noise'
+Assert-Equal 0 $noise.TransitionCount 'Sub-threshold curvature noise must be ignored.'
+
+# Two 0.50 m windows whose ranges overlap are merged.
+$overlap = Invoke-Scenario 'Overlap'
+Assert-Equal 1 $overlap.RegionCount 'Overlapping windows must form one joint region.'
+Assert-Equal 2 $overlap.TransitionCountInFirstRegion 'The merged region must retain both events.'
+
+# Near a segment start, the window becomes asymmetric without crossing the hard boundary.
+$nearStart = Invoke-Scenario 'NearStart'
+Assert-Near 0.0 $nearStart.StartArcLength 0.000000001 'A start window must be clamped to the segment.'
+Assert-True ($nearStart.RightWindowLength -gt $nearStart.LeftWindowLength) `
+    'Unavailable left length must be shifted to the right.'
+
+Write-Output 'Path smoothing Local G2 detection checks passed.'