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
@@ -75,10 +75,17 @@ public sealed class PathSmoothingPreprocessor
                sourceSegment.Direction,
                segmentPoints,
                sourceSegment.StartsAtGearSwitch,
-                sourceSegment.EndsAtGearSwitch);
+                sourceSegment.EndsAtGearSwitch,
+                request.CoarsePath[sourceSegment.StartIndex].VehicleCurvature);
            if (!_resampler.TryResample(unresampled, configuration.OutputSpacingMeters, out PreparedDirectionSegment resampled, out reason))
                return false;
-            preparedSegments.Add(resampled);
+            preparedSegments.Add(new PreparedDirectionSegment(
+                resampled.SegmentIndex,
+                resampled.Direction,
+                resampled.Points,
+                resampled.StartsAtGearSwitch,
+                resampled.EndsAtGearSwitch,
+                unresampled.StartVehicleCurvaturePerMeter));
        }

        preparedPath = new PreparedPath(preparedSegments);