chore: save current workspace progress

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingConfiguration.cs

@@ -1,53 +1,29 @@
-using System.Collections.Generic;
-using System.Collections.ObjectModel;
-
 namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
 
-/// <summary>路径平滑的公共配置；所有距离使用 m。</summary>
+/// <summary>Local G2 路径平滑管线共享配置；所有距离单位为 m，曲率相关限制使用 1/m。</summary>
 public sealed class PathSmoothingConfiguration
 {
-    /// <summary>创建带有安全默认值的平滑配置。</summary>
+    /// <summary>创建采用首版安全采样、碰撞步长、净空和曲率容差默认值的可编辑配置。</summary>
     public PathSmoothingConfiguration()
     {
-        OutputSpacingMeters = 0.05d;
+        OutputSpacingMeters = 0.025d;
         MaximumCollisionCheckStepMeters = 0.025d;
-        MinimumClearanceReserveMeters = 0.02d;
-        SmoothingStrength = 1d;
-        AllowFallbackToCoarsePath = true;
-        RetryStrengthScales = new ReadOnlyCollection<double>(
-            new List<double> { 1d, 0.75d, 0.50d, 0.25d });
+        MinimumClearanceReserveMeters = 0d;
+        CurvatureLimitRadiusToleranceMeters = 0.002d;
     }
 
-    /// <summary>正式单算法入口使用的方法。</summary>
-    public SmoothingMethod Method { get; set; }
-
-    /// <summary>输出路径的目标弧长采样间距，单位 m。</summary>
+    /// <summary>发布路径沿弧长的目标采样间距，单位 m；必须为有限正数。</summary>
     public double OutputSpacingMeters { get; set; }
 
-    /// <summary>扫掠碰撞检查的最大步长，单位 m。</summary>
+    /// <summary>连续车体扫掠复核允许的最大中心步长，单位 m；较大值会降低碰撞检查分辨率。</summary>
     public double MaximumCollisionCheckStepMeters { get; set; }
 
-    /// <summary>平滑候选必须在最小净空之外保留的额外余量，单位 m。</summary>
+    /// <summary>除无碰撞外还要求保留的最小额外净空，单位 m。</summary>
     public double MinimumClearanceReserveMeters { get; set; }
 
-    /// <summary>算法初始平滑强度。</summary>
-    public double SmoothingStrength { get; set; }
+    /// <summary>曲率上限复核时允许相对名义最小转弯半径的缩减容差，单位 m。</summary>
+    public double CurvatureLimitRadiusToleranceMeters { get; set; }
 
-    /// <summary>所有平滑尝试失败时是否允许发布经过复核的原粗路径。</summary>
-    public bool AllowFallbackToCoarsePath { get; set; }
-
-    /// <summary>有限且严格递减的平滑强度重试比例。</summary>
-    public IReadOnlyList<double> RetryStrengthScales { get; }
-
-    /// <summary>三次 B 样条专用参数。</summary>
-    public CubicBSplineOptions CubicBSpline { get; } = new CubicBSplineOptions();
-
-    /// <summary>局部三次 Bézier 专用参数。</summary>
-    public LocalCubicBezierOptions LocalCubicBezier { get; } = new LocalCubicBezierOptions();
-
-    /// <summary>分段五次多项式专用参数。</summary>
-    public PiecewiseQuinticOptions PiecewiseQuintic { get; } = new PiecewiseQuinticOptions();
-
-    /// <summary>局部 G2 五次过渡专用参数。</summary>
+    /// <summary>局部 G2 五次过渡窗口与候选筛选选项；返回同一配置对象的可编辑子配置。</summary>
     public LocalG2QuinticOptions LocalG2Quintic { get; } = new LocalG2QuinticOptions();
 }