fix: enforce Local G2 total window length

2026-07-31 15:47:33 +08:00
parent c623c9b529
commit 1ac3dbda8d
3 changed files with 236 additions and 33 deletions
@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using System.Collections.ObjectModel;
+using MultiWheelC.TrajectoryPlanning.Utils;

 namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.LocalG2;

@@ -40,8 +41,11 @@ internal sealed class LocalG2SmoothingRegion
        IReadOnlyList<LocalG2WindowVariant> windowVariants)
    {
        if (segmentIndex < 0 || transitions == null || transitions.Count == 0 ||
-            maximumStartArcLengthMeters < 0d || maximumEndArcLengthMeters < maximumStartArcLengthMeters ||
-            windowVariants == null)
+            !NumericGuard.IsFinite(maximumStartArcLengthMeters) ||
+            !NumericGuard.IsFinite(maximumEndArcLengthMeters) ||
+            maximumStartArcLengthMeters < 0d ||
+            maximumEndArcLengthMeters < maximumStartArcLengthMeters ||
+            windowVariants == null || windowVariants.Count == 0)
        {
            throw new ArgumentOutOfRangeException(nameof(transitions));
        }