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feat: select complete EM direction segments

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梁薄云
2026-08-06 20:55:47 +08:00
parent f4e89b4b4f
commit 048b4f618e
5 changed files with 74 additions and 11 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryChecks.cs
+1 -1
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@@ -135,7 +135,7 @@ internal static class TrajectoryChecks
EmTrajectoryValidationFailure.WorldVelocityMismatch, 1, "world velocity");
AssertRejected(context, CorruptDouble(valid, 1, "YawRate", valid.Points[1].YawRate + 0.01d),
EmTrajectoryValidationFailure.YawRateMismatch, 1, "yaw rate");
AssertRejected(context, Replace(valid, 1, Clone(valid.Points[1], signedSpeed: 0.30d)),
AssertRejected(context, Replace(valid, 1, Clone(valid.Points[1], signedSpeed: 1.10d)),
EmTrajectoryValidationFailure.SpeedLimitExceeded, 1, "speed limit");
AssertRejected(context, Replace(valid, 2, Clone(valid.Points[2], signedSpeed: 0.19d)),
EmTrajectoryValidationFailure.AccelerationLimitExceeded, 2, "acceleration limit");