feat: Add curvature calculation and constraint functions to optimize path processing flow #9
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…e path processing flow
daohu527
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Sep 15, 2025
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…s function Main changes: - New curvature constraint parameters: --max_curvature, --curvature_method, --max_iterations - Add curvature calculation methods: three modes: adaptive, iterative, and strict - Added the "plots.py" module to provide trajectory visualization and curvature analysis functions - Added the `funcs.py` module to implement mathematical functions for curvature calculation - Enhance main.py to support curvature constraint processing and detailed statistical output Functional Features: - Support curvature constraints based on vehicle limitations (recommended 95% limit value) - Provide a variety of curvature smoothing algorithm options - Generate detailed curvature statistics and visual charts - Automatically detect curvature violations and provide optimization suggestions - Maintain backward compatibility, with curvature constraints being an optional feature Technical improvements: - Refactor the code structure to separate drawing and mathematical computation functions - Improve error handling and user feedback - Enhance logging and debugging information
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feat: Add trajectory curvature constraint and visualization analysis function
Main changes:
funcs.pymodule to implement mathematical functions for curvature calculationFunctional Features:
Technical improvements: