fix: unify path smoothing geometry metrics

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Facade/PathSmoothingComparisonService.cs

@@ -13,6 +13,7 @@ public sealed class PathSmoothingComparisonService
 {
     private readonly PathSmoothingService _smoothingService = new PathSmoothingService();
     private readonly PathSmoothingPreprocessor _preprocessor = new PathSmoothingPreprocessor();
+    private readonly PathGeometryAnalyzer _analyzer = new PathGeometryAnalyzer();
     private readonly SmoothedPathValidator _validator = new SmoothedPathValidator();
 
     /// <summary>比较所有请求方法；一个方法的失败不会阻止其他方法，取消会停止后续启动。</summary>
@@ -139,6 +140,8 @@ public sealed class PathSmoothingComparisonService
         if (!RawPathBaselineBuilder.TryCreate(
                 smoothingRequest,
                 preparedPath,
+                _analyzer,
+                configuration.OutputSpacingMeters,
                 _validator,
                 configuration.MaximumCollisionCheckStepMeters,
                 out RawPathBaseline rawPath,
@@ -201,6 +204,7 @@ public sealed class PathSmoothingComparisonService
             true,
             candidate.PathLengthMeters,
             candidate.MaximumAbsoluteVehicleCurvaturePerMeter,
+            candidate.MaximumAbsoluteVehicleCurvatureDerivativePerSquareMeter,
             candidate.RootMeanSquareVehicleCurvaturePerMeter,
             candidate.TotalAbsoluteCurvatureVariationPerMeter,
             candidate.CurvatureVariationEnergy,

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Facade/PathSmoothingService.cs

@@ -15,6 +15,7 @@ namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Facade;
 public sealed class PathSmoothingService
 {
     private readonly PathSmoothingPreprocessor _preprocessor = new PathSmoothingPreprocessor();
+    private readonly PathGeometryAnalyzer _analyzer = new PathGeometryAnalyzer();
     private readonly SmoothingAlgorithmRunner _runner = new SmoothingAlgorithmRunner();
     private readonly SmoothedPathValidator _validator = new SmoothedPathValidator();
     private readonly IPathSmoother _bSpline = new CubicBSplineSmoother();
@@ -39,6 +40,8 @@ public sealed class PathSmoothingService
             if (!RawPathBaselineBuilder.TryCreate(
                     request,
                     preparedPath,
+                    _analyzer,
+                    configuration.OutputSpacingMeters,
                     _validator,
                     configuration.MaximumCollisionCheckStepMeters,
                     out _,
@@ -134,6 +137,8 @@ public sealed class PathSmoothingService
         if (!RawPathBaselineBuilder.TryCreate(
                 request,
                 revalidatedPath,
+                _analyzer,
+                configuration.OutputSpacingMeters,
                 _validator,
                 configuration.MaximumCollisionCheckStepMeters,
                 out RawPathBaseline rawPath,
@@ -234,6 +239,7 @@ public sealed class PathSmoothingService
                 point.Direction,
                 point.GeometricCurvature,
                 point.VehicleCurvature,
+                point.VehicleCurvatureDerivative,
                 point.BodyClearance,
                 point.IsGearSwitchPoint,
                 SmoothedPathPointSource.CoarsePathFallback));