fix: harden path smoothing contracts

2026-07-28 17:06:58 +08:00
parent ebf7d7d3d4
commit 5a471705b5
3 changed files with 106 additions and 13 deletions
@@ -19,8 +19,8 @@ public sealed class PathSmoothingRequest
        CoarsePath = CopyReadOnly(coarsePath);
        Segments = CopyReadOnly(segments);
        Map = map;
-        Vehicle = vehicle;
-        Configuration = configuration;
+        Vehicle = CopyVehicle(vehicle);
+        Configuration = CopyConfiguration(configuration);
    }

    /// <summary>原始粗路径的不可变快照。</summary>
@@ -48,4 +48,38 @@ public sealed class PathSmoothingRequest
        }
        return new ReadOnlyCollection<T>(copy);
    }
+
+    private static VehicleParameters CopyVehicle(VehicleParameters source)
+    {
+        if (source == null) return null;
+        return new VehicleParameters
+        {
+            LengthMeters = source.LengthMeters,
+            WidthMeters = source.WidthMeters,
+            SafetyMarginMeters = source.SafetyMarginMeters,
+            MaximumCurvaturePerMeter = source.MaximumCurvaturePerMeter,
+            MinimumTurningRadiusMeters = source.MinimumTurningRadiusMeters,
+        };
+    }
+
+    private static PathSmoothingConfiguration CopyConfiguration(PathSmoothingConfiguration source)
+    {
+        if (source == null) return null;
+        var copy = new PathSmoothingConfiguration
+        {
+            Method = source.Method,
+            OutputSpacingMeters = source.OutputSpacingMeters,
+            MaximumCollisionCheckStepMeters = source.MaximumCollisionCheckStepMeters,
+            MinimumClearanceReserveMeters = source.MinimumClearanceReserveMeters,
+            SmoothingStrength = source.SmoothingStrength,
+            AllowFallbackToCoarsePath = source.AllowFallbackToCoarsePath,
+        };
+        copy.CubicBSpline.EndpointTangentScale = source.CubicBSpline.EndpointTangentScale;
+        copy.LocalCubicBezier.CornerHeadingThresholdRadians = source.LocalCubicBezier.CornerHeadingThresholdRadians;
+        copy.LocalCubicBezier.MaximumWindowLengthMeters = source.LocalCubicBezier.MaximumWindowLengthMeters;
+        copy.LocalCubicBezier.HandleLengthRatio = source.LocalCubicBezier.HandleLengthRatio;
+        copy.PiecewiseQuintic.KnotSpacingMeters = source.PiecewiseQuintic.KnotSpacingMeters;
+        copy.PiecewiseQuintic.MinimumKnotSpacingMeters = source.PiecewiseQuintic.MinimumKnotSpacingMeters;
+        return copy;
+    }
 }