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docs/custom_path/apply_qt_modifications.md

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+# QT GUI 自定义路径修改方案
+
+## 快速修改步骤
+
+### 第1步: 添加头文件
+
+在 `qt_gui_demo.cpp` 第15行后添加:
+
+```cpp
+#include <QFileDialog>
+#include <QMessageBox>
+#include <QInputDialog>
+```
+
+### 第2步: 添加路径选项
+
+在第278行后添加两个选项:
+
+```cpp
+path_combo_->addItem("Load from CSV");
+path_combo_->addItem("Custom Spline");
+```
+
+### 第3步: 添加成员变量
+
+在MainWindow类private部分最后添加:
+
+```cpp
+PathCurve custom_path_;
+bool custom_path_loaded_ = false;
+```
+
+### 第4步: 修改 generateControl 方法
+
+在 `if (path_type == "Circle Arc")` 之前添加:
+
+```cpp
+if (path_type == "Load from CSV") {
+    QString filename = QFileDialog::getOpenFileName(
+        this, "Open CSV", "", "CSV Files (*.csv)");
+    if (filename.isEmpty()) return;
+    if (!path.loadFromCSV(filename.toStdString(), true)) {
+        QMessageBox::warning(this, "Error", "Load failed!");
+        return;
+    }
+    QMessageBox::information(this, "OK", 
+        QString("%1 points loaded").arg(path.getPathPoints().size()));
+} 
+else if (path_type == "Custom Spline") {
+    bool ok;
+    int n = QInputDialog::getInt(this, "Spline", "Key points:", 4, 2, 10, 1, &ok);
+    if (!ok) return;
+    std::vector<PathPoint> kp;
+    for (int i = 0; i < n; ++i) {
+        double x = QInputDialog::getDouble(this, "Input", 
+            QString("P%1 X:").arg(i+1), i*3.0, -100, 100, 2, &ok);
+        if (!ok) return;
+        double y = QInputDialog::getDouble(this, "Input",
+            QString("P%1 Y:").arg(i+1), (i%2)*3.0, -100, 100, 2, &ok);
+        if (!ok) return;
+        kp.push_back(PathPoint(x, y));
+    }
+    path.generateSpline(kp, 200, 0.5);
+}
+```
+
+## 完整代码参考
+
+见: examples/qt_gui_demo.cpp
+
+修改位置:
+- 行 15: 添加头文件
+- 行 278: 添加选项
+- 行 330: 修改方法
+- 行 529: 添加变量
+
+## 编译运行
+
+```bash
+cd build
+cmake ..
+cmake --build . --config Release     · 编译到Release ,默认是Debug
+./agv_qt_gui
+```
+
+## 使用说明
+
+1. 选择 "Load from CSV"
+2. 点击 "Generate Control"
+3. 选择CSV文件
+4. 点击 "Start Animation"