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feat: build static EM lateral corridors

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梁薄云
2026-08-03 22:49:05 +08:00
parent 06687e294c
commit 2d252ff309
5 changed files with 540 additions and 5 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+11 -5
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@@ -6,29 +6,35 @@ internal static class Program
{
private static int Main(string[] args)
{
if (args.Length != 1 || (args[0] != "foundation" && args[0] != "segmentation" && args[0] != "frenet"))
if (args.Length != 1 || (args[0] != "foundation" && args[0] != "segmentation" && args[0] != "frenet" &&
args[0] != "corridor" && args[0] != "all-foundation"))
{
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet");
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|all-foundation");
return 2;
}
try
{
if (args[0] == "foundation")
if (args[0] == "foundation" || args[0] == "all-foundation")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.FoundationChecks.Run();
Console.WriteLine("PASS foundation");
}
else if (args[0] == "segmentation")
if (args[0] == "segmentation" || args[0] == "all-foundation")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.SegmentationChecks.Run();
Console.WriteLine("PASS segmentation");
}
else
if (args[0] == "frenet" || args[0] == "all-foundation")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.FrenetChecks.Run();
Console.WriteLine("PASS frenet");
}
if (args[0] == "corridor" || args[0] == "all-foundation")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.CorridorChecks.Run();
Console.WriteLine("PASS corridor");
}
return 0;
}
catch (Exception exception)