docs: document smoothing value contracts

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathQualityMetrics.cs

@@ -9,7 +9,18 @@ public sealed class PathQualityMetrics
     {
     }
 
-    /// <summary>创建完整的质量指标快照。</summary>
+    /// <summary>创建不显式提供曲率导数峰值的完整质量指标快照；曲率导数峰值按 0 处理。</summary>
+    /// <param name="isFeasible">是否通过完整安全和运动学复核。</param>
+    /// <param name="pathLengthMeters">路径总弧长，单位 m。</param>
+    /// <param name="maximumAbsoluteVehicleCurvaturePerMeter">绝对车辆曲率峰值，单位 1/m。</param>
+    /// <param name="rootMeanSquareVehicleCurvaturePerMeter">车辆曲率均方根，单位 1/m。</param>
+    /// <param name="totalAbsoluteCurvatureVariationPerMeter">按方向段累计的绝对曲率变化，单位 1/m。</param>
+    /// <param name="curvatureVariationEnergy">无单位的曲率变化能量/代价。</param>
+    /// <param name="minimumBodyClearanceMeters">扩大车体的最小保守净空，单位 m。</param>
+    /// <param name="lengthChangePercent">相对原始粗路径的长度变化百分比。</param>
+    /// <param name="peakCurvatureChangePercent">相对原始粗路径的峰值曲率变化百分比。</param>
+    /// <param name="curvatureVariationChangePercent">相对原始粗路径的曲率变化百分比。</param>
+    /// <param name="minimumClearanceChangeMeters">相对原始粗路径的最小净空变化，单位 m。</param>
     public PathQualityMetrics(
         bool isFeasible,
         double pathLengthMeters,
@@ -38,7 +49,19 @@ public sealed class PathQualityMetrics
     {
     }
 
-    /// <summary>创建带有曲率导数峰值的完整质量指标快照。</summary>
+    /// <summary>创建包含曲率导数峰值的完整质量指标快照。</summary>
+    /// <param name="isFeasible">是否通过完整安全和运动学复核。</param>
+    /// <param name="pathLengthMeters">路径总弧长，单位 m。</param>
+    /// <param name="maximumAbsoluteVehicleCurvaturePerMeter">绝对车辆曲率峰值，单位 1/m。</param>
+    /// <param name="maximumAbsoluteVehicleCurvatureDerivativePerSquareMeter">绝对车辆曲率导数峰值，单位 1/m²。</param>
+    /// <param name="rootMeanSquareVehicleCurvaturePerMeter">车辆曲率均方根，单位 1/m。</param>
+    /// <param name="totalAbsoluteCurvatureVariationPerMeter">按方向段累计的绝对曲率变化，单位 1/m。</param>
+    /// <param name="curvatureVariationEnergy">无单位的曲率变化能量/代价。</param>
+    /// <param name="minimumBodyClearanceMeters">扩大车体的最小保守净空，单位 m。</param>
+    /// <param name="lengthChangePercent">相对原始粗路径的长度变化百分比。</param>
+    /// <param name="peakCurvatureChangePercent">相对原始粗路径的峰值曲率变化百分比。</param>
+    /// <param name="curvatureVariationChangePercent">相对原始粗路径的曲率变化百分比。</param>
+    /// <param name="minimumClearanceChangeMeters">相对原始粗路径的最小净空变化，单位 m。</param>
     public PathQualityMetrics(
         bool isFeasible,
         double pathLengthMeters,