完善Detour状态估计与轨迹跟踪验证

2026-08-19 17:38:17 +08:00
parent d8de901a80
commit 0d5539e595
55 changed files with 4473 additions and 387 deletions
@@ -55,7 +55,16 @@ namespace MultiWheelC.StateEstimation
                    AngleMath.DegreesToRadians(
                        config
                            .ParkingDetourVelocityHeadingResidualDegrees),
-                    config.ParkingDetourStationaryConfirmationSeconds);
+                    config.ParkingDetourStationaryConfirmationSeconds,
+                    config.ParkingDetourHeadingOutlierConfirmationFrames,
+                    config
+                        .ParkingDetourHeadingOutlierPredictionTimeoutSeconds,
+                    config.ParkingDetourJumpConfirmationFrames,
+                    config.ParkingDetourJumpConfirmationTimeoutSeconds,
+                    config.ParkingDetourMaximumAutomaticFrameShift,
+                    AngleMath.DegreesToRadians(
+                        config
+                            .ParkingDetourMaximumAutomaticHeadingShiftDegrees));

            return new WheelFeedbackVehicleStateProvider(
                detourStateProvider,