feat: add local G2 smoothing contracts

2026-07-30 16:12:06 +08:00
parent f19034db1e
commit 3e1126936d
13 changed files with 364 additions and 9 deletions
@@ -0,0 +1,17 @@
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;
+
+/// <summary>局部 G2 区域未替换原始路径的稳定原因。</summary>
+public enum PathSmoothingRegionFailureReason
+{
+    None,
+    WindowUnavailable,
+    CandidateGenerationFailed,
+    Collision,
+    InsufficientClearance,
+    CurvatureExceeded,
+    CurvatureOvershoot,
+    DeviationExceeded,
+    InsufficientImprovement,
+    VariationCostRegression,
+    GlobalValidationRollback,
+}