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fix: preserve raw path smoothing baselines

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梁薄云
2026-07-30 08:42:14 +08:00
parent 09953ab1f1
commit 20215defdd
5 changed files with 197 additions and 149 deletions
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ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Facade/PathSmoothingComparisonService.cs
+8 -33
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@@ -13,7 +13,6 @@ public sealed class PathSmoothingComparisonService
{
private readonly PathSmoothingService _smoothingService = new PathSmoothingService();
private readonly PathSmoothingPreprocessor _preprocessor = new PathSmoothingPreprocessor();
private readonly PathGeometryAnalyzer _analyzer = new PathGeometryAnalyzer();
private readonly SmoothedPathValidator _validator = new SmoothedPathValidator();
/// <summary>比较所有请求方法；一个方法的失败不会阻止其他方法，取消会停止后续启动。</summary>
@@ -137,31 +136,23 @@ public sealed class PathSmoothingComparisonService
if (!_preprocessor.TryPrepare(smoothingRequest, out PreparedPath preparedPath, out reason))
return FailedBaseline(PathSmoothingStatus.InvalidInput, reason, out reason);
if (!_analyzer.TryAnalyze(preparedPath.Segments, configuration.OutputSpacingMeters, out PathGeometryAnalysis analysis, out reason))
return FailedBaseline(PathSmoothingStatus.InvalidInput, reason, out reason);
if (!_validator.TryValidate(
analysis.Path,
analysis.Segments,
if (!RawPathBaselineBuilder.TryCreate(
smoothingRequest,
preparedPath,
smoothingRequest.Map,
smoothingRequest.Vehicle,
_validator,
configuration.MaximumCollisionCheckStepMeters,
out IReadOnlyList<SmoothedPathPoint> safePath,
out double minimumClearanceMeters,
out RawPathBaseline rawPath,
out reason))
{
return FailedBaseline(PathSmoothingStatus.InvalidInput, reason, out reason);
}
PathQualityMetrics metrics = CreateMetrics(analysis, minimumClearanceMeters);
string digest = StableGeometryDigest.Compute(PathSmoothingStatus.Success, null, safePath, analysis.Segments);
string digest = StableGeometryDigest.Compute(PathSmoothingStatus.Success, null, rawPath.Path, rawPath.Segments);
return PathSmoothingComparisonEntry.CreateRawPathBaseline(
PathSmoothingStatus.Success,
metrics,
rawPath.Metrics,
digest,
string.Empty,
safePath,
analysis.Segments);
rawPath.Path,
rawPath.Segments);
}
private static PathSmoothingComparisonEntry FailedBaseline(
@@ -199,22 +190,6 @@ public sealed class PathSmoothingComparisonService
configuration);
}
private static PathQualityMetrics CreateMetrics(PathGeometryAnalysis analysis, double minimumClearanceMeters)
{
return new PathQualityMetrics(
true,
analysis.PathLengthMeters,
analysis.MaximumAbsoluteVehicleCurvaturePerMeter,
analysis.RootMeanSquareVehicleCurvaturePerMeter,
analysis.TotalAbsoluteCurvatureVariationPerMeter,
analysis.CurvatureVariationEnergy,
minimumClearanceMeters,
0d,
0d,
0d,
0d);
}
private static PathQualityMetrics NormalizeMetrics(
PathQualityMetrics candidate,
PathQualityMetrics raw)