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feat: load pinned OSQP native library

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This commit is contained in:
梁薄云
2026-08-03 23:48:41 +08:00
parent 2abb465d98
commit 39c1708c48
5 changed files with 608 additions and 2 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+12 -2
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@@ -7,9 +7,10 @@ internal static class Program
private static int Main(string[] args)
{
if (args.Length != 1 || (args[0] != "foundation" && args[0] != "segmentation" && args[0] != "frenet" &&
args[0] != "corridor" && args[0] != "optimization" && args[0] != "all-foundation"))
args[0] != "corridor" && args[0] != "optimization" && args[0] != "osqp-loader" && args[0] != "osqp-probe" &&
args[0] != "all-foundation"))
{
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|all-foundation");
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp-loader|all-foundation");
return 2;
}
@@ -40,6 +41,15 @@ internal static class Program
MultiWheelC.TrajectoryPlanning.EMPlanner.OptimizationChecks.Run();
Console.WriteLine("PASS optimization");
}
if (args[0] == "osqp-loader")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.OsqpChecks.Run();
Console.WriteLine("PASS osqp-loader");
}
if (args[0] == "osqp-probe")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.OsqpChecks.RunProbe();
}
return 0;
}
catch (Exception exception)