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feat: publish one-shot EM trajectories

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梁薄云
2026-08-04 11:55:20 +08:00
parent 7410654e68
commit 019b89645a
5 changed files with 730 additions and 1 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+16 -1
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@@ -11,7 +11,8 @@ internal static class Program
args[0] != "all-foundation" && args[0] != "lateral-model" && args[0] != "lateral-integration" &&
args[0] != "lateral-real-osqp" && args[0] != "lateral-real-osqp-probe" && args[0] != "lateral-all" &&
args[0] != "longitudinal-model" && args[0] != "longitudinal-integration" &&
args[0] != "longitudinal-real-osqp-probe" && args[0] != "trajectory"))
args[0] != "longitudinal-real-osqp-probe" && args[0] != "trajectory" &&
args[0] != "em-planning-service" && args[0] != "em-core-all"))
{
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model|lateral-integration|lateral-real-osqp|lateral-all|longitudinal-model|longitudinal-integration");
return 2;
@@ -93,6 +94,20 @@ internal static class Program
MultiWheelC.TrajectoryPlanning.EMPlanner.TrajectoryChecks.Run();
Console.WriteLine("PASS trajectory");
}
if (args[0] == "em-planning-service" || args[0] == "em-core-all")
{
if (args[0] == "em-core-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LongitudinalModelChecks.Run();
Console.WriteLine("PASS longitudinal-model");
MultiWheelC.TrajectoryPlanning.EMPlanner.LongitudinalIntegrationChecks.Run();
Console.WriteLine("PASS longitudinal-integration");
MultiWheelC.TrajectoryPlanning.EMPlanner.TrajectoryChecks.Run();
Console.WriteLine("PASS trajectory");
}
MultiWheelC.TrajectoryPlanning.EMPlanner.EmPlanningServiceChecks.Run();
Console.WriteLine("PASS em-planning-service");
}
return 0;
}
catch (Exception exception)