fix: unify path smoothing geometry metrics

2026-07-30 16:39:08 +08:00
parent d7ceb761b7
commit d6b34f88ce
16 changed files with 259 additions and 115 deletions
@@ -59,7 +59,8 @@ internal sealed class CubicBSplineSmoother : IPathSmoother
                sourceSegment.Direction,
                points,
                sourceSegment.StartsAtGearSwitch,
-                sourceSegment.EndsAtGearSwitch));
+                sourceSegment.EndsAtGearSwitch,
+                sourceSegment.StartVehicleCurvaturePerMeter));
        }

        return SmoothingCandidate.Success(candidateSegments);
@@ -55,7 +55,8 @@ internal sealed class LocalCubicBezierSmoother : IPathSmoother
                sourceSegment.Direction,
                points,
                sourceSegment.StartsAtGearSwitch,
-                sourceSegment.EndsAtGearSwitch));
+                sourceSegment.EndsAtGearSwitch,
+                sourceSegment.StartVehicleCurvaturePerMeter));
        }

        return SmoothingCandidate.Success(candidateSegments);
@@ -60,7 +60,8 @@ internal sealed class PiecewiseQuinticSmoother : IPathSmoother
                sourceSegment.Direction,
                points,
                sourceSegment.StartsAtGearSwitch,
-                sourceSegment.EndsAtGearSwitch));
+                sourceSegment.EndsAtGearSwitch,
+                sourceSegment.StartVehicleCurvaturePerMeter));
        }

        return SmoothingCandidate.Success(candidateSegments);
@@ -99,6 +99,7 @@ internal sealed class SmoothingAlgorithmRunner
            true,
            analysis.PathLengthMeters,
            analysis.MaximumAbsoluteVehicleCurvaturePerMeter,
+            analysis.MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter,
            analysis.RootMeanSquareVehicleCurvaturePerMeter,
            analysis.TotalAbsoluteCurvatureVariationPerMeter,
            analysis.CurvatureVariationEnergy,