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feat: add reverse-safe Frenet transforms

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This commit is contained in:
梁薄云
2026-08-03 22:43:39 +08:00
parent aac48835f1
commit 06687e294c
7 changed files with 475 additions and 3 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+8 -3
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@@ -6,9 +6,9 @@ internal static class Program
{
private static int Main(string[] args)
{
if (args.Length != 1 || (args[0] != "foundation" && args[0] != "segmentation"))
if (args.Length != 1 || (args[0] != "foundation" && args[0] != "segmentation" && args[0] != "frenet"))
{
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation");
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet");
return 2;
}
@@ -19,11 +19,16 @@ internal static class Program
MultiWheelC.TrajectoryPlanning.EMPlanner.FoundationChecks.Run();
Console.WriteLine("PASS foundation");
}
else
else if (args[0] == "segmentation")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.SegmentationChecks.Run();
Console.WriteLine("PASS segmentation");
}
else
{
MultiWheelC.TrajectoryPlanning.EMPlanner.FrenetChecks.Run();
Console.WriteLine("PASS frenet");
}
return 0;
}
catch (Exception exception)