commit for push

src/path_curve_fix.txt

@@ -0,0 +1,14 @@
+        } else if (path_points_.size() > 2) {
+            // 中间点
+            double dx = path_points_[i + 1].x - path_points_[i - 1].x;
+            double dy = path_points_[i + 1].y - path_points_[i - 1].y;
+            path_points_[i].theta = std::atan2(dy, dx);
+
+            // 计算曲率（使用三点法）
+            if (i > 0 && i < path_points_.size() - 1) {
+                path_points_[i].kappa = computeCurvature(
+                    path_points_[i - 1], path_points_[i], path_points_[i + 1]);
+            }
+        }
+        // 单点情况：保持原有的theta和kappa值（通常为0）
+        // 不需要额外计算，避免越界访问