feat: configure MovementTest OSQP iterations

2026-08-05 12:03:28 +08:00
parent 30234d42df
commit 1a94cc2a6b
4 changed files with 23 additions and 1 deletions
@@ -32,6 +32,7 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
    public double ReplanPeriodSeconds = 0.20d;
    public double ObserverPeriodSeconds = 0.05d;
    public double SolverTimeoutSeconds = 0.50d;
+    public int MaximumOsqpIterations = 12000;
    public double VehicleLengthMeters = 0.80d;
    public double VehicleWidthMeters = 0.60d;
    public double SafetyMarginMeters = 0.05d;
@@ -61,6 +62,7 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
                ReplanPeriodSeconds = ReplanPeriodSeconds,
                ObserverPeriodSeconds = ObserverPeriodSeconds,
                SolverTimeoutSeconds = SolverTimeoutSeconds,
+                MaximumOsqpIterations = MaximumOsqpIterations,
                VehicleLengthMeters = VehicleLengthMeters,
                VehicleWidthMeters = VehicleWidthMeters,
                SafetyMarginMeters = SafetyMarginMeters,