feat: 发布 EM 轨迹规划首个版本

2026-08-11 20:35:59 +08:00
parent 569de5f13c
commit 1903e71fc1
522 changed files with 4188 additions and 119188 deletions
@@ -159,6 +159,11 @@ internal sealed class LocalG2WindowPlanner
            return;
        }

+        // The tolerance above deliberately accepts boundary-sized round-off.  Clamp that
+        // round-off before constructing the strict, non-negative window contract.
+        left = Math.Min(left, availableLeft);
+        right = Math.Min(right, availableRight);
+
        double start = anchor - left;
        double end = anchor + right;
        if (start > firstEvent + MergeToleranceMeters || end + MergeToleranceMeters < lastEvent || end - start + MergeToleranceMeters < target)