docs: document smoothing processing core

2026-08-04 14:29:51 +08:00
parent 4a7dd875a4
commit 8f6e97e88f
17 changed files with 153 additions and 11 deletions
@@ -8,6 +8,16 @@ namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
 /// <summary>同一几何分析器产生的路径、方向段和未验证质量统计。</summary>
 public sealed class PathGeometryAnalysis
 {
+    /// <summary>创建一次几何重算的只读结果快照。</summary>
+    /// <param name="path">重算后的完整路径点集合。</param>
+    /// <param name="segments">完整覆盖 <paramref name="path"/> 的方向段集合。</param>
+    /// <param name="pathLengthMeters">路径总弧长，单位 m。</param>
+    /// <param name="maximumAbsoluteVehicleCurvaturePerMeter">车辆曲率绝对值峰值，单位 1/m。</param>
+    /// <param name="maximumAbsoluteVehicleCurvatureDerivativePerSquareMeter">车辆曲率导数绝对值峰值，单位 1/m²。</param>
+    /// <param name="rootMeanSquareVehicleCurvaturePerMeter">车辆曲率均方根，单位 1/m。</param>
+    /// <param name="totalAbsoluteCurvatureVariationPerMeter">不跨换向点的累计绝对曲率变化，单位 1/m。</param>
+    /// <param name="curvatureVariationEnergy">不跨换向点的曲率变化代价。</param>
+    /// <param name="minimumBodyClearanceMeters">输入点携带的最小保守车体净空，单位 m。</param>
    internal PathGeometryAnalysis(
        IReadOnlyList<SmoothedPathPoint> path,
        IReadOnlyList<SmoothedPathSegment> segments,