feat: add smoothing algorithm retry runner

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Algorithms/SmoothingAlgorithmInput.cs

@@ -0,0 +1,34 @@
+using System;
+using MultiWheelC.TrajectoryPlanning.CoarsePath;
+using MultiWheelC.TrajectoryPlanning.Mapping;
+using MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Algorithms;
+
+/// <summary>单次算法运行共享的已预处理路径和独立复核上下文。</summary>
+internal sealed class SmoothingAlgorithmInput
+{
+    internal SmoothingAlgorithmInput(
+        PreparedPath originalPath,
+        PlanningGridMap map,
+        VehicleParameters vehicle,
+        double maximumCollisionCheckStepMeters)
+    {
+        OriginalPath = originalPath ?? throw new ArgumentNullException(nameof(originalPath));
+        Map = map ?? throw new ArgumentNullException(nameof(map));
+        Vehicle = vehicle ?? throw new ArgumentNullException(nameof(vehicle));
+        MaximumCollisionCheckStepMeters = maximumCollisionCheckStepMeters;
+    }
+
+    /// <summary>已校验并按方向分段的原始路径。</summary>
+    internal PreparedPath OriginalPath { get; }
+
+    /// <summary>用于完整车体复核的不可变规划地图。</summary>
+    internal PlanningGridMap Map { get; }
+
+    /// <summary>用于曲率和足迹复核的车辆参数快照。</summary>
+    internal VehicleParameters Vehicle { get; }
+
+    /// <summary>连续车体碰撞检查的最大步长，单位 m。</summary>
+    internal double MaximumCollisionCheckStepMeters { get; }
+}