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打通新版Stanley轨迹跟踪闭环并补充实验测试与数据分析脚本

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
yuxiang.shen
2026-08-06 15:14:12 +08:00
co-authored by Cursor
parent 47973cc94b
commit 19b1e49189
27 changed files with 3482 additions and 22 deletions
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docs/记录.txt
+13 -4
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@@ -2,7 +2,6 @@
powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1
1. TrajectoryPoint.cs 已完成
2. Trajectory2D.cs 下一步
3. TrajectoryProjection.cs 定义一次投影结果
@@ -20,9 +19,19 @@ powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1
5. DetourVehicleStateProvider.cs
private const double LinearVelocityFilterTimeConstantSeconds =
0.10;
0.15;
private const double AngularVelocityFilterTimeConstantSeconds =
0.10;
0.20;
PathTrackingContext.cs
LateralControlCommand.cs
ILateralController.cs
ILongitudinalController.cs
GcpMotionCommand.cs
AckermannGcpAllocator.cs
StanleyLateralController.cs
PidLongitudinalController.cs
GcpCommandExecutor.cs
ParkingGeometricController.cs