完善Detour状态估计与轨迹跟踪验证
This commit is contained in:
@@ -14,6 +14,10 @@ import pandas as pd
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SCRIPT_DIR = Path(__file__).resolve().parent
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LATERAL_JUMP_THRESHOLD_METERS = 0.03
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JUMP_INSET_CONTEXT_SAMPLES = 6
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MAXIMUM_PLAUSIBLE_LINEAR_SPEED_METERS_PER_SECOND = 1.20
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POSITION_JUMP_MARGIN_METERS = 0.03
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def configure_matplotlib() -> None:
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@@ -57,6 +61,16 @@ def first_text(frame: pd.DataFrame, name: str, default: str) -> str:
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return values.iloc[0] if not values.empty else default
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def text_column(frame: pd.DataFrame, name: str) -> np.ndarray:
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"""读取用于诊断标注的原始文本列，缺失值转换为空字符串。"""
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if name not in frame.columns:
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return np.full(len(frame), "", dtype=object)
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return frame[name].fillna("").astype(str).to_numpy(
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dtype=object,
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copy=True,
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)
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def fill_reference_series(
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values: np.ndarray,
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fallback: np.ndarray,
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@@ -169,6 +183,11 @@ def load_experiment(csv_path: Path) -> dict[str, object]:
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raw_x_meters = numeric_column(frame, "DetourX") / 1000.0
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raw_y_meters = numeric_column(frame, "DetourY") / 1000.0
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valid_raw_position = (
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np.isfinite(raw_x_meters) & np.isfinite(raw_y_meters)
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)
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detour_tick_raw = text_column(frame, "DetourTickRaw")
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detour_l_step = numeric_column(frame, "DetourLStep")
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actual_x = np.where(processed_valid, state_x, raw_x_meters)
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actual_y = np.where(processed_valid, state_y, raw_y_meters)
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valid_position = np.isfinite(actual_x) & np.isfinite(actual_y)
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@@ -257,6 +276,67 @@ def load_experiment(csv_path: Path) -> dict[str, object]:
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& np.isfinite(reference_y)
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)
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# 同时检查Detour是否超出车辆物理运动边界，以及控制状态的横向误差
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# 是否发生离散突变。后者能覆盖状态层延迟接受持续定位偏移的情况。
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raw_delta_x = np.full(len(frame), np.nan, dtype=float)
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raw_delta_y = np.full(len(frame), np.nan, dtype=float)
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sample_delta_time = np.full(len(frame), np.nan, dtype=float)
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raw_delta_x[1:] = np.diff(raw_x_meters)
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raw_delta_y[1:] = np.diff(raw_y_meters)
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sample_delta_time[1:] = np.diff(time_seconds)
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detour_position_step = np.hypot(raw_delta_x, raw_delta_y)
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detour_tick_numeric = numeric_column(frame, "DetourTickRaw")
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detour_tick_delta_seconds = np.full(len(frame), np.nan, dtype=float)
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detour_tick_delta_seconds[1:] = (
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np.diff(detour_tick_numeric) / 10_000_000.0
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)
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source_delta_time = sample_delta_time.copy()
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valid_tick_delta = (
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np.isfinite(detour_tick_delta_seconds)
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& (detour_tick_delta_seconds > 0.0)
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& (detour_tick_delta_seconds <= 0.5)
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)
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source_delta_time[valid_tick_delta] = (
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detour_tick_delta_seconds[valid_tick_delta]
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)
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consecutive_raw_position_valid = np.zeros(len(frame), dtype=bool)
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consecutive_raw_position_valid[1:] = (
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valid_raw_position[1:] & valid_raw_position[:-1]
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)
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maximum_plausible_position_step = (
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MAXIMUM_PLAUSIBLE_LINEAR_SPEED_METERS_PER_SECOND
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* source_delta_time
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+ POSITION_JUMP_MARGIN_METERS
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)
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raw_detour_jump = (
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consecutive_raw_position_valid
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& np.isfinite(detour_position_step)
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& np.isfinite(source_delta_time)
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& (source_delta_time > 0.0)
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& (source_delta_time <= 0.5)
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& (detour_position_step > maximum_plausible_position_step)
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)
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state_lateral_step = np.full(len(frame), np.nan, dtype=float)
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state_lateral_step[1:] = np.diff(lateral_error)
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state_lateral_jump = (
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np.isfinite(state_lateral_step)
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& np.isfinite(sample_delta_time)
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& (sample_delta_time > 0.0)
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& (sample_delta_time <= 0.5)
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& (np.abs(state_lateral_step) >= LATERAL_JUMP_THRESHOLD_METERS)
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)
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suspected_jump = raw_detour_jump | state_lateral_jump
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jump_indices = np.flatnonzero(suspected_jump)
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jump_magnitude = np.zeros(len(frame), dtype=float)
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jump_magnitude[raw_detour_jump] = detour_position_step[raw_detour_jump]
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jump_magnitude[state_lateral_jump] = np.maximum(
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jump_magnitude[state_lateral_jump],
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np.abs(state_lateral_step[state_lateral_jump]),
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)
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cruise_speed = first_finite(
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numeric_column(frame, "ReferenceSpeed"),
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0.30,
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@@ -420,6 +500,17 @@ def load_experiment(csv_path: Path) -> dict[str, object]:
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"actual_x": actual_x,
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"actual_y": actual_y,
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"valid_position": valid_position,
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"raw_x": raw_x_meters,
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"raw_y": raw_y_meters,
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"valid_raw_position": valid_raw_position,
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"detour_tick_raw": detour_tick_raw,
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"detour_l_step": detour_l_step,
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"detour_position_step": detour_position_step,
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"state_lateral_step": state_lateral_step,
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"raw_detour_jump": raw_detour_jump,
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"state_lateral_jump": state_lateral_jump,
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"jump_magnitude": jump_magnitude,
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"jump_indices": jump_indices,
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"reference_x": reference_x,
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"reference_y": reference_y,
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"valid_reference_position": valid_reference_position,
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@@ -484,7 +575,9 @@ def plot_experiment(
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# 1. 期望轨迹与实际轨迹。
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axis = axes[0, 0]
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valid_position = data["valid_position"]
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valid_raw_position = data["valid_raw_position"]
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valid_reference_position = data["valid_reference_position"]
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jump_indices = data["jump_indices"]
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if np.count_nonzero(valid_reference_position) >= 2:
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axis.plot(
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data["reference_x"][valid_reference_position],
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@@ -501,26 +594,166 @@ def plot_experiment(
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linewidth=2.0,
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label="参考起终点连线",
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)
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axis.plot(
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data["raw_x"][valid_raw_position],
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data["raw_y"][valid_raw_position],
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":",
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color="tab:gray",
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linewidth=1.2,
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alpha=0.85,
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label="Detour原始轨迹",
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)
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axis.plot(
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data["actual_x"][valid_position],
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data["actual_y"][valid_position],
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color="tab:orange",
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linewidth=1.5,
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label="状态估计后的实际轨迹",
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label="控制使用的状态轨迹",
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)
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if jump_indices.size:
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axis.scatter(
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data["raw_x"][jump_indices],
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data["raw_y"][jump_indices],
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color="red",
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marker="x",
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s=65,
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linewidths=1.8,
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zorder=8,
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label="疑似定位/状态突变",
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)
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axis.scatter(*data["start"], color="green", s=45, label="起点")
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axis.scatter(*data["end"], color="red", s=45, label="终点")
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axis.set_aspect("equal", adjustable="box")
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# 诊断图优先展示厘米级横向变化；横纵轴独立缩放，避免4m行程
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# 将数厘米的定位阶跃压缩成几乎不可见的一条细线。
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axis.set_aspect("auto")
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axis.set_xlabel("世界坐标X / m")
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axis.set_ylabel("世界坐标Y / m")
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axis.set_title("期望轨迹与实际轨迹对比")
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axis.set_title("期望轨迹与状态轨迹对比（横纵轴独立缩放）")
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axis.grid(True, alpha=0.3)
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axis.legend(fontsize=8)
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axis.legend(fontsize=7, loc="upper left")
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if jump_indices.size:
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strongest_jump_index = int(
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jump_indices[
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np.argmax(
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np.abs(
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data["jump_magnitude"][jump_indices]
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)
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)
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]
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)
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context_start = max(
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0,
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strongest_jump_index - JUMP_INSET_CONTEXT_SAMPLES,
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)
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context_end = min(
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len(data["time"]),
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strongest_jump_index + JUMP_INSET_CONTEXT_SAMPLES + 1,
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)
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context = np.arange(context_start, context_end)
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inset = axis.inset_axes([0.54, 0.08, 0.43, 0.43])
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inset.set_zorder(10)
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inset.set_facecolor("white")
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context_reference_valid = (
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data["valid_reference_position"][context]
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)
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if np.count_nonzero(context_reference_valid) >= 2:
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reference_context = context[context_reference_valid]
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inset.plot(
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data["reference_x"][reference_context],
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data["reference_y"][reference_context],
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"--",
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linewidth=1.2,
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color="tab:blue",
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)
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context_raw_valid = data["valid_raw_position"][context]
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raw_context = context[context_raw_valid]
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inset.plot(
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data["raw_x"][raw_context],
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data["raw_y"][raw_context],
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":",
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linewidth=1.0,
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color="tab:gray",
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)
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context_state_valid = data["valid_position"][context]
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state_context = context[context_state_valid]
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inset.plot(
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data["actual_x"][state_context],
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data["actual_y"][state_context],
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linewidth=1.2,
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color="tab:orange",
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)
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inset.scatter(
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data["raw_x"][strongest_jump_index],
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data["raw_y"][strongest_jump_index],
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color="red",
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marker="x",
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s=45,
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linewidths=1.5,
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zorder=8,
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)
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jump_descriptions = []
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if data["raw_detour_jump"][strongest_jump_index]:
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jump_descriptions.append(
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"Detour位移="
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f"{data['detour_position_step'][strongest_jump_index] * 1000.0:.1f}mm"
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)
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if data["state_lateral_jump"][strongest_jump_index]:
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jump_descriptions.append(
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"状态横向Δ="
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f"{data['state_lateral_step'][strongest_jump_index] * 1000.0:+.1f}mm"
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)
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diagnostic_parts = []
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detour_tick = data["detour_tick_raw"][strongest_jump_index]
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if detour_tick:
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diagnostic_parts.append(f"tick={detour_tick}")
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detour_l_step = data["detour_l_step"][strongest_jump_index]
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if np.isfinite(detour_l_step):
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diagnostic_parts.append(f"l_step={detour_l_step:g}")
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diagnostic_suffix = (
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"\n" + " ".join(diagnostic_parts)
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if diagnostic_parts
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else ""
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)
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inset.set_title(
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f"最大疑似突变：t={data['time'][strongest_jump_index]:.3f}s\n"
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f"{'，'.join(jump_descriptions)}"
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f"{diagnostic_suffix}",
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fontsize=7,
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)
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inset.set_aspect("auto")
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inset.tick_params(labelsize=6)
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inset.grid(True, alpha=0.25)
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# 2. 横向误差。
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lateral_mm = data["lateral_error"] * 1000.0
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lateral_rmse_mm = finite_rmse(lateral_mm)
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axis = axes[0, 1]
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axis.plot(data["time"], lateral_mm, linewidth=1.5)
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if jump_indices.size:
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for jump_index in jump_indices:
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axis.axvline(
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data["time"][jump_index],
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color="red",
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linewidth=0.8,
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alpha=0.35,
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)
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valid_jump_error = (
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data["state_lateral_jump"][jump_indices]
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& np.isfinite(lateral_mm[jump_indices])
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)
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visible_jump_indices = jump_indices[valid_jump_error]
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if visible_jump_indices.size:
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axis.scatter(
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data["time"][visible_jump_indices],
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lateral_mm[visible_jump_indices],
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color="red",
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marker="x",
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s=45,
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linewidths=1.5,
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zorder=7,
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label="控制状态横向突变",
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)
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axis.axhline(0.0, color="black", linewidth=0.8)
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axis.set_xlabel("时间 / s")
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axis.set_ylabel("横向误差 / mm")
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@@ -529,6 +762,11 @@ def plot_experiment(
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f"RMSE={lateral_rmse_mm:.2f}mm"
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)
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axis.grid(True, alpha=0.3)
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if jump_indices.size and np.any(
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data["state_lateral_jump"][jump_indices]
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& np.isfinite(lateral_mm[jump_indices])
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):
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axis.legend(fontsize=8)
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# 3. 航向误差。
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heading_degrees = np.rad2deg(data["heading_error"])
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@@ -677,21 +915,58 @@ def plot_experiment(
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f"航向RMSE={heading_rmse_degrees:.4f}°, "
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f"速度RMSE={speed_rmse:.5f}m/s"
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)
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if jump_indices.size:
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strongest_jump_index = int(
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jump_indices[
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np.argmax(
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np.abs(
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data["jump_magnitude"][jump_indices]
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)
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)
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]
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)
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print(
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f" 检出{jump_indices.size}个疑似定位/状态突变，"
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f"最大幅值={data['jump_magnitude'][strongest_jump_index] * 1000.0:.2f}mm，"
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f"时刻={data['time'][strongest_jump_index]:.3f}s"
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)
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print(f"已生成六子图总图：{destination}")
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return [destination]
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def discover_csv_files(arguments: list[str]) -> list[Path]:
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"""读取命令行文件；未指定时扫描脚本目录及data子目录中的CSV。"""
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"""读取命令行文件或目录；目录中只选取非计时CSV。"""
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if arguments:
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files = [Path(item).expanduser().resolve() for item in arguments]
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files = []
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for item in arguments:
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path = Path(item).expanduser().resolve()
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if path.is_dir():
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files.extend(
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sorted(
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candidate
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for candidate in path.glob("*.csv")
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if not candidate.stem.endswith("_timing")
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)
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)
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else:
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files.append(path)
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else:
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files = sorted(SCRIPT_DIR.glob("*.csv"))
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files.extend(sorted((SCRIPT_DIR / "data").glob("*.csv")))
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files = [path for path in files if path.is_file()]
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files = sorted(
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path
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for path in SCRIPT_DIR.glob("*.csv")
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if not path.stem.endswith("_timing")
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)
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files.extend(
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sorted(
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path
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for path in (SCRIPT_DIR / "data").glob("*.csv")
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if not path.stem.endswith("_timing")
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)
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)
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files = list(dict.fromkeys(path for path in files if path.is_file()))
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if not files:
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raise FileNotFoundError(
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"没有找到CSV；请传入文件路径，或将文件放到脚本目录/data中。"
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"没有找到轨迹CSV；请传入文件、目录，或将文件放到脚本目录/data中。"
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)
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return files
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@@ -701,7 +976,11 @@ def main() -> None:
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parser = argparse.ArgumentParser(
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description="绘制新版控制器轨迹实验的六子图总图。"
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)
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parser.add_argument("csv", nargs="*", help="需要处理的CSV文件路径。")
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parser.add_argument(
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"csv",
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nargs="*",
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help="需要处理的轨迹CSV文件或包含轨迹CSV的目录。",
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)
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parser.add_argument(
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"--output-dir",
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help="图片输出目录；默认使用脚本目录/plots。",
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@@ -0,0 +1,53 @@
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: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.052m，航向2.82°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.052m，航向2.82°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.068m，航向0.30°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.068m，航向0.30°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.050m，航向4.45°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.050m，航向4.45°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.084m，航向1.08°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.084m，航向1.08°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,38 @@
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.034m，航向5.66°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.034m，航向5.66°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 362
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.073m，航向5.61°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.073m，航向5.61°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 362
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.037m，航向6.82°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.037m，航向6.82°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 362
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,43 @@
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour单帧航向变化超出物理边界。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour单帧航向变化超出物理边界。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 401
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.130m，航向误差=0.08°。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.130m，航向误差=0.08°。, stack:
|
||||
at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.187m，航向1.34°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.187m，航向1.34°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 282
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.240m，航向误差=0.24°。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.240m，航向误差=0.24°。, stack:
|
||||
at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,70 @@
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour航向连续异常达到确认条件，航向暂不可用。最后原因：Detour航向创新超过当前动态允许值。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour航向连续异常达到确认条件，航向暂不可用。最后原因：Detour航向创新超过当前动态允许值。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 401
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
*p.InnerException * (InvalidOperationException):MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.EnsureMotionFrameIsActive(Double motionDirectionRadians) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 115
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.SendRollingTwistInActiveMotionFrame(Twist2D bodyTwist, Double linearSpeedMetersPerSecond, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 365
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.SendBodyTwist(Twist2D bodyTwist, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 351
|
||||
at MultiWheelC.Control.Execution.GcpCommandExecutor.Execute(GcpMotionCommand command, Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\GcpCommandExecutor.cs:line 125
|
||||
at MultiWheelC.Control.Execution.ParkingGeometricController.ExecuteCycle(Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\ParkingGeometricController.cs:line 517
|
||||
|
||||
: * (Exception):DriveTask failed, msg=停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
*p.InnerException * (InvalidOperationException):MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.EnsureMotionFrameIsActive(Double motionDirectionRadians) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 115
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.SendRollingTwistInActiveMotionFrame(Twist2D bodyTwist, Double linearSpeedMetersPerSecond, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 365
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.SendBodyTwist(Twist2D bodyTwist, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 351
|
||||
at MultiWheelC.Control.Execution.GcpCommandExecutor.Execute(GcpMotionCommand command, Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\GcpCommandExecutor.cs:line 125
|
||||
at MultiWheelC.Control.Execution.ParkingGeometricController.ExecuteCycle(Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\ParkingGeometricController.cs:line 517
|
||||
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=原地自转完成后Detour位置在限定时间内未恢复。Detour疑似坐标跳变未能在0.60s内确认，车辆状态已置为不可用。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):原地自转完成后Detour位置在限定时间内未恢复。Detour疑似坐标跳变未能在0.60s内确认，车辆状态已置为不可用。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 282
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.163m，航向2.26°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.163m，航向2.26°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 282
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,94 @@
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.045m，航向4.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.045m，航向4.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向0.39°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向0.39°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.162m，航向0.78°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.162m，航向0.78°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.070m，航向1.89°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.070m，航向1.89°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向1.72°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向1.72°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.112m，航向0.79°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.112m，航向0.79°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.048m，航向0.29°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.048m，航向0.29°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向2.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向2.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
@@ -0,0 +1,22 @@
|
||||
getCartLocation()返回什么位姿是可能因重定位而跳变的地图位姿？
|
||||
还是保证连续的里程计位姿？
|
||||
回环或重定位后，x/y/th是否允许突然变化？
|
||||
|
||||
这是最重要的问题。
|
||||
tick代表什么时间是激光采样时间、定位计算完成时间，还是发布时间？
|
||||
是否为 .NET DateTime.Ticks？
|
||||
getCartLocation()返回缓存数据时，tick是否保持不变？
|
||||
|
||||
这决定MyParking如何进行时间对齐。
|
||||
l_step的含义
|
||||
只需要问：
|
||||
正常、定位退化、定位丢失、重定位中分别是什么范围？
|
||||
判断定位恢复的推荐条件是什么？
|
||||
自转时 l_step升高是否正常？
|
||||
是否存在额外可调用的接口
|
||||
重点问有没有：
|
||||
连续里程计位姿或速度。
|
||||
定位是否有效。
|
||||
是否正在重定位。
|
||||
定位置信度或匹配分数。
|
||||
不需要让对方新增功能，只问现有接口有没有。
|
||||
Reference in New Issue
Block a user