docs: plan Local G2 soft anchor recovery
This commit is contained in:
梁薄云
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# Local G2 Soft-Anchor Candidate Recovery Implementation Plan
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> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
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**Goal:** Prove and implement a bounded soft-anchor Local G2 candidate family that makes the real `SingleTurn` route pass the unchanged safety/quality evaluator, then finish the dedicated Task 8 service pipeline.
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**Architecture:** First preserve the already-proven evaluator seam correction, then make window generation cover representative total lengths before asymmetric variants consume the budget. A disposable-copy feasibility gate evaluates the exact soft-anchor family before the shared production builder changes; only a successful non-zero-offset candidate permits the builder TDD and Task 8 service integration to continue.
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**Tech Stack:** C# 10, .NET Standard 2.0, PowerShell reflection verification, existing `PathGeometryAnalyzer`, `SmoothedPathValidator`, full-body collision checks, Git.
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## Global Constraints
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- `MinimumWindowLengthMeters = 0.20`, `PreferredWindowLengthMeters = 0.50`, and `MaximumWindowLengthMeters = 0.80` are total left-plus-right lengths.
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- Path start, path end, gear switches, and outer window endpoints remain hard position anchors.
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- Only an internal primitive-boundary position may move; its vehicle heading and distance-weighted shared curvature remain hard boundary values.
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- `softOffset = min(0.05 m, 0.5 × MaximumDeviationMeters)`; if it is at most `1e-10 m`, emit no non-zero profile.
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- Per selected representative window, profile order is exact anchor, `+softOffset`, `-softOffset`, all with derivative multiplier `1.00`.
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- The configured candidate limit remains authoritative and is capped by the existing hard maximum of 12.
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- Do not modify vehicle curvature limits, the validator `1e-6` tolerance, raw curvature-range tolerance, collision/clearance gates, `0.10 m` default maximum deviation, 20 percent peak-gradient improvement, or 2 percent variation-cost tolerance.
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- Do not change Hybrid A*, SQP, legacy smoothing algorithms, or `PathSmoothingComparisonRequest.DefaultMethods`.
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- Detector report order remains immutable ascending order; processing uses `LocalG2RegionWorkOrder`.
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- Use TDD. Do not change `LocalG2CandidateBuilder` in the shared tree until the disposable feasibility gate finds an accepted non-zero-offset candidate under the unchanged evaluator.
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- Preserve unrelated dirty worktree files. Stage only the exact files listed by each task.
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- The untracked `ClumsyPilot/ParkrobTrajplanner/auto_avoidance` tree currently requires unavailable external assemblies. Never edit or delete it; when it blocks the normal build, verify this work from a disposable copy that excludes only that directory.
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---
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## File Structure
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- `ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2CandidateEvaluator.cs`
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- Preserve the analyzer-compatible `1e-10 m` boundary-point de-duplication already proven by RED/GREEN evidence.
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- `ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2WindowPlanner.cs`
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- Expose preferred/minimum/maximum balanced targets before asymmetric variants and keep deterministic target coverage.
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- `ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2CandidateBuilder.cs`
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- Select representative windows, apply the bounded normal soft-anchor profiles, and emit at most 12 deterministic geometries.
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- `ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2PreSmoothingPipeline.cs`
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- Consume work order, evaluate candidates, roll back failed global combinations, and publish raw baseline when no accepted replacement survives.
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- `ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Facade/PathSmoothingService.cs`
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- Dispatch only `LocalG2Quintic` to the dedicated pipeline while preserving legacy routes.
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- `ClumsyPilot/tests/verify_path_smoothing_local_g2_detection.ps1`
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- Prove target coverage, total-window semantics, deterministic order, and configured caps.
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- `ClumsyPilot/tests/verify_path_smoothing_local_g2_candidates.ps1`
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- Prove the evaluator seam, feasibility tuple, soft-anchor geometry, candidate budget, G2, direction, and determinism.
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- `ClumsyPilot/tests/verify_path_smoothing_local_g2_integration.ps1`
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- Prove public service statuses, safe complete-path publication, two-region order, rollback, and cancellation.
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- `ClumsyPilot/tests/verify_path_smoothing_service.ps1`
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- Prove dedicated Local G2 dispatch without disturbing legacy method registration.
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---
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### Task 1: Preserve the evaluator window-boundary correction
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**Files:**
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- Modify: `ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2CandidateEvaluator.cs`
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- Modify: `ClumsyPilot/tests/verify_path_smoothing_local_g2_candidates.ps1`
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- Evidence: `.superpowers/sdd/local-g2-task-8-integration-report.md`
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**Interfaces:**
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- Consumes: interpolated window start/end points and source points from one `PreparedDirectionSegment`.
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- Produces: `TryExtractWindow(...)` output with exact interpolated endpoints and no consecutive positions within `1e-10 m`.
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- [ ] **Step 1: Separate the completed evaluator regression from the still-RED candidate-family assertion**
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Keep the real SingleTurn seam and this assertion:
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```powershell
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Assert-Equal 0 $duplicateFailures.Count `
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'SingleTurn builder candidates must not fail evaluator window analysis due to duplicate or degenerate points.'
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```
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Remove only the current `$acceptedCandidates` collection and the assertion requiring an accepted candidate. Task 3 reintroduces the accepted non-zero-offset requirement after the feasibility gate.
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- [ ] **Step 2: Confirm the recorded RED/GREEN evidence is complete**
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Read `.superpowers/sdd/local-g2-task-8-integration-report.md` and require both entries:
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```text
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RED: Expected=0 Actual=6 duplicate/degenerate evaluator failures
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GREEN: Path smoothing Local G2 candidate checks passed.
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```
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The production correction must remain exactly:
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```csharp
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private const double WindowPointToleranceMeters = 1e-10d;
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private static bool SamePosition(SmoothingPoint2D left, SmoothingPoint2D right)
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{
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if (left == null || right == null) return false;
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double x = right.X - left.X;
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double y = right.Y - left.Y;
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return x * x + y * y <=
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WindowPointToleranceMeters * WindowPointToleranceMeters;
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}
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```
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and `TryExtractWindow` must preserve the exact interpolated end:
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```csharp
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if (point.ArcLength > startArcLength &&
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point.ArcLength < endArcLength &&
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!SamePosition(points[points.Count - 1], point))
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{
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points.Add(point);
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}
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if (SamePosition(points[points.Count - 1], end))
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points[points.Count - 1] = end;
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else
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points.Add(end);
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```
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- [ ] **Step 3: Build and run the focused GREEN check**
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Run the normal commands first:
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```powershell
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dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
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powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_candidates.ps1
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```
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If the build fails only because of untracked `auto_avoidance` dependencies, create a disposable verification copy:
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```powershell
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$verificationRoot = Join-Path $env:TEMP ('parkingrobot-local-g2-' + [Guid]::NewGuid().ToString('N'))
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New-Item -ItemType Directory -Path $verificationRoot | Out-Null
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robocopy 'ClumsyPilot' (Join-Path $verificationRoot 'ClumsyPilot') /E /XD 'ClumsyPilot\ParkrobTrajplanner\auto_avoidance'
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if ($LASTEXITCODE -gt 7) { throw "robocopy failed with $LASTEXITCODE" }
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dotnet build (Join-Path $verificationRoot 'ClumsyPilot\ClumsyPilot.csproj') --no-restore
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powershell -ExecutionPolicy Bypass -File (Join-Path $verificationRoot 'ClumsyPilot\tests\verify_path_smoothing_local_g2_candidates.ps1')
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```
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Expected: build has zero errors; candidate checks pass without an accepted-candidate requirement.
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- [ ] **Step 4: Commit only the evaluator seam**
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```powershell
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git add -- `
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ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2CandidateEvaluator.cs `
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ClumsyPilot/tests/verify_path_smoothing_local_g2_candidates.ps1
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git diff --cached --check
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git diff --cached --name-only
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git commit -m "fix: deduplicate Local G2 evaluator windows"
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```
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Expected staged names: exactly the two files above.
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---
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### Task 2: Guarantee representative window-target coverage
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**Files:**
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- Modify: `ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2WindowPlanner.cs`
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- Modify: `ClumsyPilot/tests/verify_path_smoothing_local_g2_detection.ps1`
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**Interfaces:**
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- Consumes: `LocalG2OptionsSnapshot` total-window bounds and `MaximumCandidatesPerRegion`.
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- Produces: ordered `WindowVariants` whose balanced target pass precedes 40/60 and 60/40 passes.
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- [ ] **Step 1: Add the failing coverage scenario**
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Add this case to `LocalG2WindowPlanner.TestHooks.Execute`:
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```csharp
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case "InteriorCoverage":
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transitions = new[] { Transition(1d, 0) };
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segmentLength = 2d;
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break;
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```
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Extend `WindowPlanningTestSnapshot` with:
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```csharp
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public int FirstRegionVariantCount { get; }
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public bool RepresentativeTargetsFirst { get; }
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public bool HasAsymmetricVariant { get; }
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```
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Append the three values to its internal constructor and assign them exactly:
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```csharp
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internal WindowPlanningTestSnapshot(
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int regionCount,
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string transitionCounts,
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double maximumWindowLength,
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bool exactEnvelope,
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double firstLeftLength,
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double firstRightLength,
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string signature,
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int firstRegionVariantCount,
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bool representativeTargetsFirst,
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bool hasAsymmetricVariant)
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{
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RegionCount = regionCount;
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TransitionCounts = transitionCounts;
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MaximumWindowLength = maximumWindowLength;
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ExactEnvelope = exactEnvelope;
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FirstLeftLength = firstLeftLength;
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FirstRightLength = firstRightLength;
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Signature = signature;
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FirstRegionVariantCount = firstRegionVariantCount;
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RepresentativeTargetsFirst = representativeTargetsFirst;
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HasAsymmetricVariant = hasAsymmetricVariant;
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}
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```
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Compute the values before returning the snapshot:
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```csharp
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IReadOnlyList<LocalG2WindowVariant> firstVariants = regions[0].WindowVariants;
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bool representativeTargetsFirst =
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firstVariants.Count >= 3 &&
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Math.Abs(WindowLength(firstVariants[0]) - 0.50d) <= 1e-9d &&
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Math.Abs(WindowLength(firstVariants[1]) - 0.20d) <= 1e-9d &&
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Math.Abs(WindowLength(firstVariants[2]) - 0.80d) <= 1e-9d;
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bool hasAsymmetricVariant = false;
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for (int index = 0; index < firstVariants.Count; index++)
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{
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if (Math.Abs(
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firstVariants[index].LeftWindowLengthMeters -
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firstVariants[index].RightWindowLengthMeters) > 1e-9d)
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{
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hasAsymmetricVariant = true;
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break;
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}
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}
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```
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Add the helper:
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```csharp
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private static double WindowLength(LocalG2WindowVariant variant) =>
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variant.EndArcLengthMeters - variant.StartArcLengthMeters;
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```
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Pass the three values through the snapshot constructor. In the PowerShell verifier add:
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```powershell
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$coverage = $executeMethod.Invoke($null, @('InteriorCoverage'))
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Assert-True $coverage.RepresentativeTargetsFirst `
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'Preferred, minimum, and maximum balanced targets must precede asymmetric variants.'
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Assert-True $coverage.HasAsymmetricVariant `
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'Default window planning must retain a legal asymmetric variant after balanced coverage.'
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Assert-True ($coverage.FirstRegionVariantCount -le 12) `
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'Window planning must obey the configured default cap.'
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```
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- [ ] **Step 2: Run the detection verifier to prove RED**
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Run:
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```powershell
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dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
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powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_detection.ps1
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```
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Use the disposable-copy command from Task 1 only if the normal build is blocked by `auto_avoidance`.
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Expected RED: `RepresentativeTargetsFirst` is false because the current order begins `0.50, 0.50, 0.50` for balanced/asymmetric splits of one target.
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- [ ] **Step 3: Implement coverage-pass enumeration**
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Replace `BuildVariants` with:
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```csharp
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private static IReadOnlyList<LocalG2WindowVariant> BuildVariants(
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IReadOnlyList<CurvatureTransition> transitions,
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double segmentLength,
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LocalG2OptionsSnapshot options)
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{
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var variants = new List<LocalG2WindowVariant>();
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double firstEvent = transitions[0].LocalArcLengthMeters;
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double lastEvent = transitions[transitions.Count - 1].LocalArcLengthMeters;
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double anchor = (firstEvent + lastEvent) / 2d;
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IReadOnlyList<double> targets = BuildTargets(options, segmentLength);
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double[] ratios = { 0.5d, 0.4d, 0.6d };
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for (int ratioIndex = 0; ratioIndex < ratios.Length; ratioIndex++)
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{
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for (int targetIndex = 0; targetIndex < targets.Count; targetIndex++)
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{
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if (variants.Count >= options.MaximumCandidatesPerRegion)
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return new ReadOnlyCollection<LocalG2WindowVariant>(variants);
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AddIfLegal(
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variants,
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targets[targetIndex],
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ratios[ratioIndex],
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anchor,
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firstEvent,
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lastEvent,
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segmentLength,
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ratioIndex == 0,
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options);
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}
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}
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return new ReadOnlyCollection<LocalG2WindowVariant>(variants);
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}
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```
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Replace the `requested` array in `BuildTargets` with:
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```csharp
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double[] requested =
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{
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options.PreferredWindowLengthMeters,
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options.MinimumWindowLengthMeters,
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options.MaximumWindowLengthMeters,
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0.75d * options.PreferredWindowLengthMeters,
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1.25d * options.PreferredWindowLengthMeters,
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};
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```
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Do not alter `AddIfLegal`, total-length validation, grouping, or region-envelope calculation.
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- [ ] **Step 4: Verify GREEN and determinism**
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Run twice:
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```powershell
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powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_detection.ps1
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powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_detection.ps1
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powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_candidates.ps1
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```
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Expected: all pass; both detection runs publish identical signatures.
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- [ ] **Step 5: Commit the planner coverage change**
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```powershell
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git add -- `
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ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2WindowPlanner.cs `
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ClumsyPilot/tests/verify_path_smoothing_local_g2_detection.ps1
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git diff --cached --check
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git diff --cached --name-only
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git commit -m "fix: cover Local G2 window targets before splits"
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```
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---
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### Task 3: Prove and implement the soft-anchor candidate family
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**Files:**
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- Modify after feasibility GREEN: `ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2CandidateBuilder.cs`
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- Modify: `ClumsyPilot/tests/verify_path_smoothing_local_g2_candidates.ps1`
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- Evidence: `.superpowers/sdd/local-g2-soft-anchor-feasibility-report.md`
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**Interfaces:**
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- Consumes: stabilized `WindowVariants`, internal `CurvatureTransition` anchors, travel direction, and `MaximumDeviationMeters`.
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- Produces: profile-major deterministic candidates with exact outer states and bounded normal movement at internal anchors.
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- [ ] **Step 1: Reintroduce the permanent RED acceptance seam**
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Before the real-candidate loop initialize:
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```powershell
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$acceptedSoftCandidates = @()
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$candidateSignatures = @()
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```
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For each real candidate, find its point at the first transition arc within
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`1e-9 m`, then compute:
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```powershell
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$transition = (Get-InternalProperty $region 'Transitions')[0]
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$travelHeading = [double](Get-InternalProperty $transition 'VehicleHeadingRadians')
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$normalX = -[Math]::Sin($travelHeading)
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$normalY = [Math]::Cos($travelHeading)
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$softOffset = 0.0
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foreach ($point in (Get-InternalProperty $realCandidate 'RegionPoints')) {
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if ([Math]::Abs($point.ArcLength - (Get-InternalProperty $transition 'LocalArcLengthMeters')) -le 1e-9) {
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$softOffset = ($point.X - (Get-InternalProperty $transition 'X')) * $normalX +
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($point.Y - (Get-InternalProperty $transition 'Y')) * $normalY
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break
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}
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}
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if ((Get-InternalProperty $evaluation 'Accepted') -and [Math]::Abs($softOffset) -gt 1e-10) {
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$acceptedSoftCandidates += $realCandidate
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}
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```
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Add:
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```powershell
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Assert-True ($acceptedSoftCandidates.Count -gt 0) `
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'SingleTurn must produce an accepted non-zero soft-anchor candidate under unchanged gates.'
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```
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Run the candidate verifier against the current builder. Expected RED: no non-zero soft-anchor candidate exists.
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- [ ] **Step 2: Run the disposable feasibility gate before shared production edits**
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Create a new disposable verification copy using Task 1's command. In that copy only, apply the complete builder changes from Steps 3 and 4 below with `apply_patch`. Add temporary output inside the candidate evaluation loop:
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```powershell
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$candidateIndex = Get-InternalProperty $realCandidate 'CandidateIndex'
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$startArc = Get-InternalProperty $realCandidate 'StartArcLengthMeters'
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$endArc = Get-InternalProperty $realCandidate 'EndArcLengthMeters'
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$accepted = Get-InternalProperty $evaluation 'Accepted'
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$failure = Get-InternalProperty $evaluation 'FailureReason'
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$rawPeak = Get-InternalProperty $evaluation 'RawPeakCurvatureDerivativePerSquareMeter'
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$resultPeak = Get-InternalProperty $evaluation 'ResultPeakCurvatureDerivativePerSquareMeter'
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$maximumCurvature = Get-InternalProperty $evaluation 'MaximumAbsoluteVehicleCurvaturePerMeter'
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$maximumDeviation = Get-InternalProperty $evaluation 'MaximumDeviationMeters'
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$minimumClearance = Get-InternalProperty $evaluation 'MinimumBodyClearanceMeters'
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Write-Output ("soft-probe candidate=$candidateIndex window=$startArc..$endArc offset=$softOffset accepted=$accepted failure=$failure rawPeak=$rawPeak resultPeak=$resultPeak maxCurvature=$maximumCurvature deviation=$maximumDeviation clearance=$minimumClearance")
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||||
```
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||||
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||||
In the disposable verifier, also calculate the raw and candidate curvature
|
||||
ranges with the evaluator's unchanged private analysis path:
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||||
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```powershell
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function Get-AnalysisCurvatureRange($Analysis) {
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$minimum = [double]::PositiveInfinity
|
||||
$maximum = [double]::NegativeInfinity
|
||||
foreach ($point in (Get-InternalProperty $Analysis 'Path')) {
|
||||
$minimum = [Math]::Min($minimum, [double]$point.VehicleCurvature)
|
||||
$maximum = [Math]::Max($maximum, [double]$point.VehicleCurvature)
|
||||
}
|
||||
return [PSCustomObject]@{ Minimum = $minimum; Maximum = $maximum }
|
||||
}
|
||||
|
||||
$extractMethod = Get-InternalMethod $evaluatorType 'TryExtractWindow'
|
||||
$analyzeMethod = Get-InternalMethod $evaluatorType 'TryAnalyzeWindow'
|
||||
$extractArgs = [object[]]@($preparedSegment, [double]$startArc, [double]$endArc, $null, $null)
|
||||
Assert-True ($extractMethod.Invoke($realEvaluator, $extractArgs)) `
|
||||
'The feasibility probe must extract the unchanged raw window.'
|
||||
$rawWindow = $extractArgs[3]
|
||||
$rawAnalyzeArgs = [object[]]@(
|
||||
$preparedSegment, $rawWindow, [double]$configuration.OutputSpacingMeters, $null, $null)
|
||||
Assert-True ($analyzeMethod.Invoke($realEvaluator, $rawAnalyzeArgs)) `
|
||||
'The feasibility probe must analyze the unchanged raw window.'
|
||||
$candidateAnalyzeArgs = [object[]]@(
|
||||
$preparedSegment,
|
||||
(Get-InternalProperty $realCandidate 'RegionPoints'),
|
||||
[double]$configuration.OutputSpacingMeters,
|
||||
$null,
|
||||
$null)
|
||||
Assert-True ($analyzeMethod.Invoke($realEvaluator, $candidateAnalyzeArgs)) `
|
||||
'The feasibility probe must analyze the soft-anchor candidate window.'
|
||||
$rawRange = Get-AnalysisCurvatureRange $rawAnalyzeArgs[3]
|
||||
$candidateRange = Get-AnalysisCurvatureRange $candidateAnalyzeArgs[3]
|
||||
Write-Output ("soft-probe ranges candidate=$candidateIndex raw=$($rawRange.Minimum)..$($rawRange.Maximum) candidate=$($candidateRange.Minimum)..$($candidateRange.Maximum)")
|
||||
```
|
||||
|
||||
Run:
|
||||
|
||||
```powershell
|
||||
dotnet build (Join-Path $verificationRoot 'ClumsyPilot\ClumsyPilot.csproj') --no-restore
|
||||
powershell -ExecutionPolicy Bypass -File (Join-Path $verificationRoot 'ClumsyPilot\tests\verify_path_smoothing_local_g2_candidates.ps1')
|
||||
```
|
||||
|
||||
Write the exact command, every tuple line, and the final accepted tuple to `.superpowers/sdd/local-g2-soft-anchor-feasibility-report.md` using `apply_patch`.
|
||||
|
||||
Gate result:
|
||||
|
||||
- GREEN: at least one line has `accepted=True`, `abs(offset) > 1e-10`, result peak at most 80 percent of raw peak, and all unchanged evaluator gates pass. Continue.
|
||||
- RED: no such line exists. Stop this plan, leave the shared builder unchanged, and report the design as blocked. Do not change expected fixture statuses or any threshold.
|
||||
|
||||
- [ ] **Step 3: Implement representative-window selection after feasibility GREEN**
|
||||
|
||||
Replace the current window-first/scale-second loop in `Build` with:
|
||||
|
||||
```csharp
|
||||
IReadOnlyList<LocalG2WindowVariant> windows =
|
||||
SelectRepresentativeWindows(region.WindowVariants);
|
||||
double softOffset = Math.Min(0.05d, 0.5d * options.MaximumDeviationMeters);
|
||||
double[] offsets = softOffset <= 1e-10d
|
||||
? new[] { 0d }
|
||||
: new[] { 0d, softOffset, -softOffset };
|
||||
var candidates = new List<LocalG2CandidateGeometry>();
|
||||
int limit = Math.Min(options.MaximumCandidatesPerRegion, 12);
|
||||
for (int profileIndex = 0; profileIndex < offsets.Length; profileIndex++)
|
||||
{
|
||||
for (int windowIndex = 0; windowIndex < windows.Count; windowIndex++)
|
||||
{
|
||||
cancellationToken.ThrowIfCancellationRequested();
|
||||
if (candidates.Count >= limit) return ReadOnly(candidates);
|
||||
if (TryBuildCandidate(
|
||||
candidates.Count,
|
||||
originalSegment,
|
||||
region,
|
||||
windows[windowIndex],
|
||||
1d,
|
||||
offsets[profileIndex],
|
||||
outputSpacingMeters,
|
||||
cancellationToken,
|
||||
out LocalG2CandidateGeometry candidate))
|
||||
{
|
||||
candidates.Add(candidate);
|
||||
}
|
||||
}
|
||||
}
|
||||
return ReadOnly(candidates);
|
||||
```
|
||||
|
||||
Add these helpers next to `SameArc`:
|
||||
|
||||
```csharp
|
||||
private static IReadOnlyList<LocalG2WindowVariant> SelectRepresentativeWindows(
|
||||
IReadOnlyList<LocalG2WindowVariant> variants)
|
||||
{
|
||||
var selected = new List<LocalG2WindowVariant>(4);
|
||||
if (variants == null || variants.Count == 0)
|
||||
return new ReadOnlyCollection<LocalG2WindowVariant>(selected);
|
||||
|
||||
AddDistinctWindow(selected, variants[0]);
|
||||
LocalG2WindowVariant minimum = variants[0];
|
||||
LocalG2WindowVariant maximum = variants[0];
|
||||
LocalG2WindowVariant asymmetric = variants[0];
|
||||
for (int index = 1; index < variants.Count; index++)
|
||||
{
|
||||
LocalG2WindowVariant candidate = variants[index];
|
||||
if (IsShorter(candidate, minimum)) minimum = candidate;
|
||||
if (IsLonger(candidate, maximum)) maximum = candidate;
|
||||
if (IsMoreAsymmetric(candidate, asymmetric)) asymmetric = candidate;
|
||||
}
|
||||
AddDistinctWindow(selected, minimum);
|
||||
AddDistinctWindow(selected, maximum);
|
||||
AddDistinctWindow(selected, asymmetric);
|
||||
return new ReadOnlyCollection<LocalG2WindowVariant>(selected);
|
||||
}
|
||||
|
||||
private static bool IsShorter(
|
||||
LocalG2WindowVariant candidate,
|
||||
LocalG2WindowVariant current)
|
||||
{
|
||||
double candidateLength =
|
||||
candidate.EndArcLengthMeters - candidate.StartArcLengthMeters;
|
||||
double currentLength =
|
||||
current.EndArcLengthMeters - current.StartArcLengthMeters;
|
||||
return candidateLength < currentLength - 1e-10d ||
|
||||
(Math.Abs(candidateLength - currentLength) <= 1e-10d &&
|
||||
candidate.CandidateIndex < current.CandidateIndex);
|
||||
}
|
||||
|
||||
private static bool IsLonger(
|
||||
LocalG2WindowVariant candidate,
|
||||
LocalG2WindowVariant current)
|
||||
{
|
||||
double candidateLength =
|
||||
candidate.EndArcLengthMeters - candidate.StartArcLengthMeters;
|
||||
double currentLength =
|
||||
current.EndArcLengthMeters - current.StartArcLengthMeters;
|
||||
return candidateLength > currentLength + 1e-10d ||
|
||||
(Math.Abs(candidateLength - currentLength) <= 1e-10d &&
|
||||
candidate.CandidateIndex < current.CandidateIndex);
|
||||
}
|
||||
|
||||
private static bool IsMoreAsymmetric(
|
||||
LocalG2WindowVariant candidate,
|
||||
LocalG2WindowVariant current)
|
||||
{
|
||||
double candidateValue = Math.Abs(
|
||||
candidate.LeftWindowLengthMeters - candidate.RightWindowLengthMeters);
|
||||
double currentValue = Math.Abs(
|
||||
current.LeftWindowLengthMeters - current.RightWindowLengthMeters);
|
||||
return candidateValue > currentValue + 1e-10d ||
|
||||
(Math.Abs(candidateValue - currentValue) <= 1e-10d &&
|
||||
candidate.CandidateIndex < current.CandidateIndex);
|
||||
}
|
||||
|
||||
private static void AddDistinctWindow(
|
||||
List<LocalG2WindowVariant> selected,
|
||||
LocalG2WindowVariant candidate)
|
||||
{
|
||||
for (int index = 0; index < selected.Count; index++)
|
||||
{
|
||||
if (SameArc(selected[index].StartArcLengthMeters, candidate.StartArcLengthMeters) &&
|
||||
SameArc(selected[index].EndArcLengthMeters, candidate.EndArcLengthMeters))
|
||||
{
|
||||
return;
|
||||
}
|
||||
}
|
||||
selected.Add(candidate);
|
||||
}
|
||||
```
|
||||
|
||||
- [ ] **Step 4: Implement bounded internal-anchor movement**
|
||||
|
||||
Add `double normalOffsetMeters` to `TryBuildCandidate` immediately after `double multiplier`.
|
||||
|
||||
Replace internal node construction with:
|
||||
|
||||
```csharp
|
||||
double travelHeading = segment.Direction == TravelDirection.Forward
|
||||
? transition.VehicleHeadingRadians
|
||||
: transition.VehicleHeadingRadians - Math.PI;
|
||||
double normalX = -Math.Sin(travelHeading);
|
||||
double normalY = Math.Cos(travelHeading);
|
||||
double nodeX = transition.X + normalOffsetMeters * normalX;
|
||||
double nodeY = transition.Y + normalOffsetMeters * normalY;
|
||||
if (!NumericGuard.IsFinite(nodeX) || !NumericGuard.IsFinite(nodeY))
|
||||
return false;
|
||||
nodes.Add(new BoundaryNode(
|
||||
transition.LocalArcLengthMeters,
|
||||
nodeX,
|
||||
nodeY,
|
||||
transition.VehicleHeadingRadians,
|
||||
sharedCurvature));
|
||||
```
|
||||
|
||||
Declare this immediately before the transition loop:
|
||||
|
||||
```csharp
|
||||
int internalNodeCount = 0;
|
||||
```
|
||||
|
||||
Increment it immediately after adding each moved internal node. Before
|
||||
`TryAssignDerivativeScales` add:
|
||||
|
||||
```csharp
|
||||
if (internalNodeCount == 0 && Math.Abs(normalOffsetMeters) > 1e-10d)
|
||||
return false;
|
||||
```
|
||||
|
||||
Keep the original interpolated outer nodes, distance-weighted `sharedCurvature`, derivative-scale calculation, derivative certification, sampling, direction sign, and candidate endpoint fields unchanged.
|
||||
Delete the now-unused `DerivativeScaleMultipliers` field.
|
||||
|
||||
- [ ] **Step 5: Complete permanent soft-anchor and budget assertions**
|
||||
|
||||
Add assertions that:
|
||||
|
||||
```powershell
|
||||
Assert-True ($acceptedSoftCandidates.Count -gt 0) `
|
||||
'SingleTurn must publish an accepted non-zero soft-anchor candidate.'
|
||||
Assert-True ($realCandidates.Count -le $configuration.LocalG2Quintic.MaximumCandidatesPerRegion) `
|
||||
'Builder output must obey the configured candidate cap.'
|
||||
```
|
||||
|
||||
Run the real builder twice and compare, for every candidate, candidate index, start/end arc, point count, every X/Y/Heading/Source value, and the inferred signed internal offset. Loop candidate limits from `1` through `12`; rebuild options and assert output count never exceeds the configured limit. Set `MaximumDeviationMeters = 0.02` in one request and assert every inferred anchor offset is at most `0.010000001 m`.
|
||||
|
||||
Extend the existing cluster and reverse TestHook cases so that one non-zero profile proves:
|
||||
|
||||
```text
|
||||
outer endpoint position error <= 1e-9 m
|
||||
outer endpoint heading error <= 1e-9 rad
|
||||
outer endpoint curvature error <= 1e-8 1/m
|
||||
internal left/right tangent error <= 1e-8
|
||||
internal left/right curvature error <= 1e-8 1/m
|
||||
```
|
||||
|
||||
- [ ] **Step 6: Verify candidate GREEN and integration progress**
|
||||
|
||||
Run:
|
||||
|
||||
```powershell
|
||||
dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
|
||||
powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_detection.ps1
|
||||
powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_candidates.ps1
|
||||
powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_integration.ps1
|
||||
```
|
||||
|
||||
Use the disposable copy when the normal build is blocked only by `auto_avoidance`.
|
||||
|
||||
Expected: detection and candidate scripts pass; service integration advances past `single-turn must publish its required Local G2 status`. Any later Task 8 failure is handled in Task 4 without modifying candidate gates.
|
||||
|
||||
- [ ] **Step 7: Commit the soft-anchor candidate family**
|
||||
|
||||
```powershell
|
||||
git add -- `
|
||||
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2CandidateBuilder.cs `
|
||||
ClumsyPilot/tests/verify_path_smoothing_local_g2_candidates.ps1
|
||||
git diff --cached --check
|
||||
git diff --cached --name-only
|
||||
git commit -m "fix: generate bounded Local G2 soft anchors"
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### Task 4: Finish the dedicated Task 8 pipeline and service publication
|
||||
|
||||
**Files:**
|
||||
|
||||
- Create from the existing untracked prototype: `ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2PreSmoothingPipeline.cs`
|
||||
- Modify: `ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Facade/PathSmoothingService.cs`
|
||||
- Create from the existing untracked prototype: `ClumsyPilot/tests/verify_path_smoothing_local_g2_integration.ps1`
|
||||
- Modify: `ClumsyPilot/tests/verify_path_smoothing_service.ps1`
|
||||
|
||||
**Interfaces:**
|
||||
|
||||
- Consumes: verified `RawPathBaseline`, immutable prepared path, detector `reportOrder`, `LocalG2RegionWorkOrder`, candidate builder/evaluator.
|
||||
- Produces:
|
||||
|
||||
```csharp
|
||||
internal PathSmoothingResult Smooth(
|
||||
PathSmoothingRequest request,
|
||||
PreparedPath preparedPath,
|
||||
RawPathBaseline rawBaseline,
|
||||
CancellationToken cancellationToken);
|
||||
```
|
||||
|
||||
- Guarantees: every valid non-cancelled request publishes a complete verified path; invalid raw input and cancellation publish no partial path.
|
||||
|
||||
- [ ] **Step 1: Run the public integration and service scripts as RED**
|
||||
|
||||
Run:
|
||||
|
||||
```powershell
|
||||
dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
|
||||
powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_integration.ps1
|
||||
powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_service.ps1
|
||||
```
|
||||
|
||||
Expected before the final pipeline correction: at least one mandatory fixture/status, raw-baseline publication, rollback, or report assertion fails. Record the first expected failure in `.superpowers/sdd/local-g2-task-8-integration-report.md`.
|
||||
|
||||
- [ ] **Step 2: Preserve immutable report order and work-order processing**
|
||||
|
||||
Keep this exact flow in `Smooth`:
|
||||
|
||||
```csharp
|
||||
IReadOnlyList<LocalG2SmoothingRegion> reportOrder =
|
||||
new ReadOnlyCollection<LocalG2SmoothingRegion>(
|
||||
new List<LocalG2SmoothingRegion>(regions));
|
||||
if (!_workOrder.TryCreate(
|
||||
reportOrder,
|
||||
out IReadOnlyList<LocalG2SmoothingRegion> workRegions,
|
||||
out string orderReason))
|
||||
{
|
||||
return Failure(PathSmoothingStatus.Failed, stopwatch, orderReason);
|
||||
}
|
||||
|
||||
foreach (LocalG2SmoothingRegion region in workRegions)
|
||||
{
|
||||
cancellationToken.ThrowIfCancellationRequested();
|
||||
// Build from preparedPath; evaluate against current.
|
||||
}
|
||||
|
||||
var reports = new List<PathSmoothingRegionReport>(reportOrder.Count);
|
||||
for (int reportIndex = 0; reportIndex < reportOrder.Count; reportIndex++)
|
||||
reports.Add(reportsByRegion[reportOrder[reportIndex]]);
|
||||
```
|
||||
|
||||
Candidate construction must use `preparedPath.Segments[region.SegmentIndex]`; evaluation must receive both `preparedPath` and the evolving `current` path.
|
||||
|
||||
- [ ] **Step 3: Publish the verified raw baseline without reconstructing it**
|
||||
|
||||
Before regional processing, if `transitions.Count == 0`, publish:
|
||||
|
||||
```csharp
|
||||
return Publish(
|
||||
PathSmoothingStatus.NotNeeded,
|
||||
rawBaseline,
|
||||
stopwatch,
|
||||
new List<PathSmoothingRegionReport>());
|
||||
```
|
||||
|
||||
Add:
|
||||
|
||||
```csharp
|
||||
private static PathSmoothingResult Publish(
|
||||
PathSmoothingStatus status,
|
||||
RawPathBaseline baseline,
|
||||
Stopwatch stopwatch,
|
||||
IReadOnlyList<PathSmoothingRegionReport> reports) =>
|
||||
PathSmoothingResult.PublishLocalG2(
|
||||
status,
|
||||
baseline.Path,
|
||||
baseline.Segments,
|
||||
new PathSmoothingDiagnostics(
|
||||
baseline.Metrics,
|
||||
stopwatch.Elapsed,
|
||||
0,
|
||||
0d,
|
||||
string.Empty),
|
||||
reports);
|
||||
```
|
||||
|
||||
After regional evaluation and global rollback, if `improvedCount == 0`, publish the same `rawBaseline` as `Unchanged` with detector-order reports. Do not call `PathGeometryAnalyzer` again for this raw fallback; the pre-Task-8 trusted-curvature gate already produced and fully validated it.
|
||||
|
||||
- [ ] **Step 4: Make accepted and retained reports describe the actual candidate**
|
||||
|
||||
For every region retain:
|
||||
|
||||
```csharp
|
||||
IReadOnlyList<LocalG2CandidateGeometry> candidates
|
||||
LocalG2CandidateEvaluation best
|
||||
LocalG2CandidateGeometry selectedCandidate
|
||||
```
|
||||
|
||||
Find the selected geometry deterministically:
|
||||
|
||||
```csharp
|
||||
LocalG2CandidateGeometry selectedCandidate = null;
|
||||
for (int index = 0; index < candidates.Count; index++)
|
||||
{
|
||||
if (candidates[index].CandidateIndex == best.CandidateIndex)
|
||||
{
|
||||
selectedCandidate = candidates[index];
|
||||
break;
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
When `best.Accepted`, require `selectedCandidate != null`, store it in `AcceptedRegion`, and report its start/end/left/right lengths. When no candidate is accepted, use candidate index `-1`, the first window only as planned-window diagnostics, and the stable failure reason from `best`.
|
||||
|
||||
Extend `AcceptedRegion` with:
|
||||
|
||||
```csharp
|
||||
internal int CandidateCount { get; }
|
||||
internal LocalG2CandidateGeometry Candidate { get; }
|
||||
```
|
||||
|
||||
Rollback reports use the stored candidate count and selected candidate rather than `region.WindowVariants.Count`.
|
||||
|
||||
- [ ] **Step 5: Preserve global rollback and exact status derivation**
|
||||
|
||||
After candidate processing, validate `current`. If it fails, roll accepted regions back in reverse acceptance order. After each rollback, re-run full validation. Mark every removed region `GlobalValidationRollback`.
|
||||
|
||||
Derive status only after rollback:
|
||||
|
||||
```csharp
|
||||
if (improvedCount == 0)
|
||||
status = PathSmoothingStatus.Unchanged;
|
||||
else if (improvedCount == regions.Count)
|
||||
status = PathSmoothingStatus.Complete;
|
||||
else
|
||||
status = PathSmoothingStatus.PartialImprovement;
|
||||
```
|
||||
|
||||
`Complete` and `PartialImprovement` must have at least one `Improved` report. If every accepted region is rolled back, publish the verified `rawBaseline` as `Unchanged`.
|
||||
|
||||
- [ ] **Step 6: Keep service dispatch isolated**
|
||||
|
||||
In `PathSmoothingService` retain the dedicated branch after common validation, preparation, and raw-baseline creation:
|
||||
|
||||
```csharp
|
||||
if (configuration.Method == SmoothingMethod.LocalG2Quintic)
|
||||
return _localG2Pipeline.Smooth(
|
||||
request,
|
||||
preparedPath,
|
||||
rawBaseline,
|
||||
cancellationToken);
|
||||
```
|
||||
|
||||
Validate `LocalG2QuinticOptions` only for that method; legacy methods continue through `Resolve(...)` and `_runner`. Do not add `LocalG2Quintic` to comparison defaults.
|
||||
|
||||
- [ ] **Step 7: Complete integration assertions**
|
||||
|
||||
The integration script must run every fixture twice and require:
|
||||
|
||||
```text
|
||||
Straight -> NotNeeded
|
||||
SingleTurn -> Complete
|
||||
LargeHeadingChange -> Complete
|
||||
SBend -> Complete or PartialImprovement
|
||||
RectangleDetour -> Complete or PartialImprovement
|
||||
MultiObstacleDetour -> Complete or PartialImprovement
|
||||
ReverseGearSwitch -> Complete, PartialImprovement, or NotNeeded
|
||||
```
|
||||
|
||||
For every published path require complete segment coverage, feasible diagnostics, configured clearance, deterministic status/coordinates/reports, and at least one `Improved` report for `Complete`/`PartialImprovement`. Keep the strict `0.99` improvement request as `Unchanged`, cancellation as empty-path `Cancelled`, and the same-direction two-region case as back-to-front processing with detector-order reports.
|
||||
|
||||
- [ ] **Step 8: Run focused and legacy GREEN checks**
|
||||
|
||||
Run:
|
||||
|
||||
```powershell
|
||||
dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
|
||||
powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_integration.ps1
|
||||
powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_service.ps1
|
||||
powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_runner.ps1
|
||||
powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_integration.ps1
|
||||
powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_candidates.ps1
|
||||
powershell -ExecutionPolicy Bypass -File ClumsyPilot/tests/verify_path_smoothing_local_g2_detection.ps1
|
||||
```
|
||||
|
||||
Expected: all pass. Use the disposable copy only for the unrelated `auto_avoidance` build blocker.
|
||||
|
||||
- [ ] **Step 9: Commit only Task 8 publication files**
|
||||
|
||||
```powershell
|
||||
git add -- `
|
||||
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/LocalG2PreSmoothingPipeline.cs `
|
||||
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Facade/PathSmoothingService.cs `
|
||||
ClumsyPilot/tests/verify_path_smoothing_local_g2_integration.ps1 `
|
||||
ClumsyPilot/tests/verify_path_smoothing_service.ps1
|
||||
git diff --cached --check
|
||||
git diff --cached --name-only
|
||||
git commit -m "feat: publish Local G2 presmoothing results"
|
||||
```
|
||||
|
||||
Expected staged names: exactly the four files above. If the service file contains unrelated user hunks, stage the Task 8 patch into the index without staging those hunks and verify with `git diff --cached` before committing.
|
||||
|
||||
---
|
||||
|
||||
### Task 5: Run the complete recovery and Task 8 verification gate
|
||||
|
||||
**Files:**
|
||||
|
||||
- Verify: all files committed by Tasks 1–4
|
||||
- Verify: all `ClumsyPilot/tests/verify_path_smoothing_*.ps1`
|
||||
- Record: `.superpowers/sdd/local-g2-soft-anchor-task-8-final-report.md`
|
||||
|
||||
**Interfaces:**
|
||||
|
||||
- Consumes: the evaluator seam, window scheduling, proven soft-anchor family, and dedicated pipeline.
|
||||
- Produces: evidence that Task 8 is complete without modifying Task 9 documentation.
|
||||
|
||||
- [ ] **Step 1: Build the final source**
|
||||
|
||||
```powershell
|
||||
dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
|
||||
```
|
||||
|
||||
Expected: zero errors. The two pre-existing obsolete API warnings may remain. If unrelated `auto_avoidance` dependencies still block the shared build, also record that exact failure and run the same build in the disposable copy.
|
||||
|
||||
- [ ] **Step 2: Run every PathSmoothing verification script**
|
||||
|
||||
```powershell
|
||||
$tests = @(
|
||||
'verify_path_smoothing_algorithm_input.ps1',
|
||||
'verify_path_smoothing_bezier.ps1',
|
||||
'verify_path_smoothing_bspline.ps1',
|
||||
'verify_path_smoothing_comparison.ps1',
|
||||
'verify_path_smoothing_contracts.ps1',
|
||||
'verify_path_smoothing_documentation.ps1',
|
||||
'verify_path_smoothing_fixtures.ps1',
|
||||
'verify_path_smoothing_geometry.ps1',
|
||||
'verify_path_smoothing_integration.ps1',
|
||||
'verify_path_smoothing_local_g2_candidates.ps1',
|
||||
'verify_path_smoothing_local_g2_curve.ps1',
|
||||
'verify_path_smoothing_local_g2_detection.ps1',
|
||||
'verify_path_smoothing_local_g2_integration.ps1',
|
||||
'verify_path_smoothing_png.ps1',
|
||||
'verify_path_smoothing_quintic.ps1',
|
||||
'verify_path_smoothing_runner.ps1',
|
||||
'verify_path_smoothing_service.ps1',
|
||||
'verify_path_smoothing_svg_csv.ps1',
|
||||
'verify_path_smoothing_validation.ps1'
|
||||
)
|
||||
foreach ($test in $tests) {
|
||||
& powershell -ExecutionPolicy Bypass -File (Join-Path 'ClumsyPilot/tests' $test)
|
||||
if ($LASTEXITCODE -ne 0) { throw "$test failed with exit code $LASTEXITCODE" }
|
||||
}
|
||||
```
|
||||
|
||||
Expected: all 19 scripts pass.
|
||||
|
||||
- [ ] **Step 3: Audit scope, safety thresholds, and Task 9 boundary**
|
||||
|
||||
```powershell
|
||||
git diff --check
|
||||
git diff --cached --check
|
||||
git status --short
|
||||
git log -6 --oneline
|
||||
rg -n "MaximumCurvaturePerMeter|CurvatureRangeTolerance|MinimumClearanceReserveMeters|MinimumPeakGradientImprovementRatio|MaximumVariationCostRegressionRatio" `
|
||||
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2 `
|
||||
ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Facade/PathSmoothingService.cs
|
||||
```
|
||||
|
||||
Confirm no safety value changed, no staged files remain, unrelated dirty files are untouched, comparison defaults exclude Local G2, and Task 9 README/documentation work has not started.
|
||||
|
||||
- [ ] **Step 4: Record final evidence without an empty commit**
|
||||
|
||||
Write `.superpowers/sdd/local-g2-soft-anchor-task-8-final-report.md` with:
|
||||
|
||||
```text
|
||||
Soft-anchor feasibility gate: PASS with exact accepted tuple and unchanged evaluator metrics.
|
||||
Window target coverage: PASS for preferred/minimum/maximum before asymmetric variants.
|
||||
SingleTurn: Complete with at least one accepted non-zero soft anchor.
|
||||
Task 8 service publication: PASS including raw fallback, rollback, work/report order, and cancellation.
|
||||
Full PathSmoothing verification: 19/19 scripts PASS (or shared-build limitation plus isolated-copy evidence explicitly recorded).
|
||||
Task 9 documentation remains pending.
|
||||
```
|
||||
|
||||
Do not create a verification-only commit.
|
||||
Reference in New Issue
Block a user