From 1784e6a121aa6d77be9085e308b974cd143e1a2b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=A2=81=E8=96=84=E4=BA=91?= Date: Tue, 11 Aug 2026 17:07:27 +0800 Subject: [PATCH] docs: complete smoothing handoff call --- ClumsyPilot/ParkrobTrajplanner/Trajplanner_guide/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ClumsyPilot/ParkrobTrajplanner/Trajplanner_guide/README.md b/ClumsyPilot/ParkrobTrajplanner/Trajplanner_guide/README.md index fbde6b7..df973b8 100644 --- a/ClumsyPilot/ParkrobTrajplanner/Trajplanner_guide/README.md +++ b/ClumsyPilot/ParkrobTrajplanner/Trajplanner_guide/README.md @@ -77,7 +77,7 @@ PlanningGridMap → PlanningRequest → HybridAStarPlanner.Plan [对应完整示例：步骤 6](EmPlannerFullPipelineDemo.cs#L144) **本步输入**：成功粗路径的 `Path`、`Segments`、同一地图/车辆和 `PathSmoothingConfiguration`。 -**调用**：`new PathSmoothingRequest(...)`，再调用 `PathSmoothingService.Smooth`。 +**调用**：`new PathSmoothingRequest(coarseResult.Path, coarseResult.Segments, map, vehicle, smoothingConfiguration)`，再调用 `new PathSmoothingService().Smooth(smoothingRequest, cancellationToken)`。 **本步输出**：可发布状态（`Complete`、`PartialImprovement`、`NotNeeded` 或 `Unchanged`）的完整平滑路径。 **失败处理**：失败、取消或无效输入的 `Path`/`Segments` 为空，不能把局部结果交给 EM。