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66e68c6bd1
NavisworksTransport/UnitTests/CoordinateSystem
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tian 66e68c6bd1 fix: 贴合地面后正确回写 correction 和 lift，确认/动画不再偏移 
贴地后 overrideQ 是绝对旋转，但 _objectRotationCorrection 语义是
相对于 baseline(pathYaw) 的增量，且 PathAnimationManager 增量链从
CAD 姿态出发：finalQ = qup(pathYaw-currentYaw) * correctionHostQ * cadQ。
之前直接转 overrideQ 导致确认/动画时重复旋转。

核心改动：
- ComposeHostCorrection 接受 cadQ，从中提取 currentYaw，
  correctionHostQ = qup(currentYaw - pathYaw) * overrideQ
- HostQuaternionToCanonical 用相似变换 R_canon = M^-1 * R_host * M
  （非列向量映射，保证 Identity 不变性）
- CanonicalQuaternionToHostEulerCorrection 加 hostType 参数重载，
  去除全局 CoordinateSystemManager 依赖
- ComputeGroundLiftForCorrection：与自动调整同方法实测底边算 lift，
  finally 用新 correction+lift 完整重建（skipCadRestore=false），
  使物体停留在贴地等价姿态
- 新增 5 个增量链闭环单测（含 CAD 歪斜场景）
2026-06-24 08:24:38 +08:00
..
AlignToGroundMinCrossSectionYawSearcherTests.cs fix: 贴合地面后正确回写 correction 和 lift，确认/动画不再偏移 2026-06-24 08:24:38 +08:00
AssemblyEndFaceAnalyzerTests.cs Fix rail assembly normals and tighten rail camera 2026-04-01 20:12:57 +08:00
AssemblyInstallationReferenceBuilderTests.cs Align terminal rail normals and object space rendering 2026-03-23 12:25:00 +08:00
AutoPathPlanningCoordinateSemanticsTests.cs Fix auto path grid restore and validation 2026-04-26 19:11:03 +08:00
CanonicalPlanarPoseBuilderTests.cs 修正真实物体的旋转和通行空间不适配的问题 2026-03-23 22:46:38 +08:00
CanonicalRailOffsetResolverTests.cs Preserve terminal pose when translating rail objects to path start 2026-03-30 23:35:01 +08:00
CanonicalRailPoseBuilderTests.cs Checkpoint animation rotation refactor state 2026-03-23 21:00:02 +08:00
CanonicalTrackedPositionResolverTests.cs Stabilize rail collision pose recovery and canonical tracking 2026-03-21 21:58:11 +08:00
FragmentDefaultUpContextTests.cs Fix host rotation adapter split for real and virtual objects 2026-03-25 11:18:03 +08:00
FragmentRepresentativePoseHelperTests.cs Interpret fragment up for real object pose 2026-03-24 21:04:24 +08:00
GroundPassageSpaceOffsetTests.cs add ground object lift adjustment 2026-04-09 23:53:40 +08:00
GroundPathObjectLiftOffsetTests.cs add ground object lift adjustment 2026-04-09 23:53:40 +08:00
HoistingCoordinateHelperTests.cs Fix YUp hoisting path rendering and finish sync 2026-03-22 12:21:25 +08:00
HoistingRealObjectPoseHelperTests.cs Stabilize hoisting pose adjustment flow 2026-03-31 00:14:18 +08:00
HostCoordinateAdapterTests.cs fix: 修复 7 个 pre-existing 单测失败（optimizer 初始候选 + ZUp 测试语义） 2026-06-23 23:18:42 +08:00
ModelAxisConventionTests.cs Separate asset axis conventions from host coordinates 2026-03-22 13:30:35 +08:00
ObjectPassageProjectionOptimizerTests.cs 自动最优朝向: 黑盒实测模式 2026-05-27 12:24:01 +08:00
ObjectSpaceOrientationHelperTests.cs Checkpoint animation rotation refactor state 2026-03-23 21:00:02 +08:00
ObjectStartPlacementRequestTests.cs add ground object lift adjustment 2026-04-09 23:53:40 +08:00
PathPointVisualizationTests.cs Fix rail assembly anchor alignment 2026-03-26 13:37:33 +08:00
PathTargetFrameResolverTests.cs clean legacy planar pose branches 2026-04-09 23:08:59 +08:00
ProjectReferenceFrameTests.cs Establish canonical coordinate framework with tests 2026-03-21 06:10:34 +08:00
RailAssemblyWorkflowContextTests.cs Refine rail assembly workflow and viewpoint strategies 2026-04-01 10:47:34 +08:00
RailPathPoseHelperTests.cs Fix rail assembly normals and tighten rail camera 2026-04-01 20:12:57 +08:00
RailPreservedPoseTests.cs Unify planar collision pose replay 2026-04-12 15:01:33 +08:00
RealObjectPlanarPoseSolverTests.cs Fix ground real-object forward axis and compensation 2026-03-25 17:19:21 +08:00
RealObjectProjectedExtentResolverTests.cs Stabilize ground incremental rotation and extent tests 2026-04-09 21:09:43 +08:00
RealObjectRailAxisConventionResolverTests.cs Refine rail real-object pose handling 2026-03-28 22:22:18 +08:00
RealObjectRailExtentResolverTests.cs Refine rail real-object pose handling 2026-03-28 22:22:18 +08:00
RealObjectReferencePoseResolverTests.cs Use actual hoisting pose baseline for real objects 2026-03-29 23:36:43 +08:00
RotatedObjectExtentHelperTests.cs fix: 修复 7 个 pre-existing 单测失败（optimizer 初始候选 + ZUp 测试语义） 2026-06-23 23:18:42 +08:00
ViewpointHelperTests.cs Refine path viewpoint behavior and config editing 2026-04-02 22:14:26 +08:00
VirtualGroundPoseCharacterizationTests.cs Fix host rotation adapter split for real and virtual objects 2026-03-25 11:18:03 +08:00
VirtualObjectModelTransformTests.cs Fix host rotation adapter split for real and virtual objects 2026-03-25 11:18:03 +08:00