feat: derive adaptive full-segment ST schedule

2026-08-06 23:54:34 +08:00
parent dad4ff4b04
commit 3269d556b6
14 changed files with 1642 additions and 108 deletions
@@ -55,6 +55,15 @@ public sealed class LongitudinalPreviousTrajectorySeedBuilder
 {
    private const double ProjectionTolerance = 1e-10d;

+    public LongitudinalPreviousTrajectorySeed Build(EmTrajectory previous, LateralPath currentPath,
+        DateTimeOffset newEffectiveAtUtc, LongitudinalKnotSchedule knotSchedule, int segmentIndex,
+        TravelDirection direction)
+    {
+        if (knotSchedule == null)
+            return LongitudinalPreviousTrajectorySeed.Empty;
+        return Build(previous, currentPath, newEffectiveAtUtc, knotSchedule.KnotTimes, segmentIndex, direction);
+    }
+
    public LongitudinalPreviousTrajectorySeed Build(EmTrajectory previous, LateralPath currentPath,
        DateTimeOffset newEffectiveAtUtc, IReadOnlyList<double> newKnotTimes, int segmentIndex,
        TravelDirection direction)