First_Dev_Dept/ParkingRobot
10
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat: publish rolling trajectories without stop tails

Browse Source
This commit is contained in:
梁薄云
2026-08-05 20:00:11 +08:00
parent 72592f0cae
commit 4159ae0bc1
9 changed files with 196 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmTrajectoryMetadata.cs
+6 -1
View File
@@ -15,7 +15,8 @@ public sealed class EmTrajectoryMetadata
string previousTrajectoryId,
int segmentIndex,
TravelDirection direction,
EmTerminalType terminalType)
EmTerminalType terminalType,
EmLongitudinalMode longitudinalMode)
{
if (string.IsNullOrWhiteSpace(trajectoryId))
throw new ArgumentException("A trajectory ID is required.", nameof(trajectoryId));
@@ -31,6 +32,8 @@ public sealed class EmTrajectoryMetadata
throw new ArgumentOutOfRangeException(nameof(direction));
if (!Enum.IsDefined(typeof(EmTerminalType), terminalType))
throw new ArgumentOutOfRangeException(nameof(terminalType));
if (!Enum.IsDefined(typeof(EmLongitudinalMode), longitudinalMode))
throw new ArgumentOutOfRangeException(nameof(longitudinalMode));
TrajectoryId = trajectoryId;
GeneratedAtUtc = generatedAtUtc;
@@ -42,6 +45,7 @@ public sealed class EmTrajectoryMetadata
SegmentIndex = segmentIndex;
Direction = direction;
TerminalType = terminalType;
LongitudinalMode = longitudinalMode;
}
public string TrajectoryId { get; }
@@ -54,4 +58,5 @@ public sealed class EmTrajectoryMetadata
public int SegmentIndex { get; }
public TravelDirection Direction { get; }
public EmTerminalType TerminalType { get; }
public EmLongitudinalMode LongitudinalMode { get; }
}
ClumsyPilot/ParkrobTrajplanner/EMPlanner/Facade/EmPlanningService.cs
+2 -2
View File
@@ -97,12 +97,12 @@ public sealed class EmPlanningService : IEmPlanningService
var metadata = new EmTrajectoryMetadata(request.OutputTrajectoryId, request.RequestedAtUtc, request.EffectiveAtUtc,
request.Map.SnapshotId, request.ReferencePathId, request.VehicleState.SequenceId, request.PreviousTrajectoryId,
segment.SegmentIndex, segment.Direction, horizon.TerminalType);
segment.SegmentIndex, segment.Direction, horizon.TerminalType, horizon.LongitudinalMode);
EmTrajectory trajectory = new EmTrajectoryAssembler(configuration).Assemble(lateral.Path, longitudinal, metadata);
EmitDebug(request, "trajectory assembly succeeded");
EmTrajectoryValidationResult publication = new EmTrajectoryValidator().Validate(trajectory, request.Map,
request.Vehicle, configuration, segment.SegmentIndex, longitudinalInput.TerminalPathS,
request.Vehicle, configuration, segment.SegmentIndex, longitudinalInput.PathUpperBoundS,
slice.TerminalBoundary.BoundaryType);
if (!publication.IsValid)
{
ClumsyPilot/ParkrobTrajplanner/EMPlanner/Trajectory/EmTrajectoryAssembler.cs
+4 -2
View File
@@ -39,7 +39,8 @@ public sealed class EmTrajectoryAssembler
throw new ArgumentNullException(nameof(metadata));
var interpolator = new LateralPathInterpolator(path);
var schedule = new TrajectorySampleSchedule(longitudinal.Candidate, outputTimeStepSeconds, zeroSpeedHoldSeconds);
var schedule = new TrajectorySampleSchedule(longitudinal.Candidate, outputTimeStepSeconds, zeroSpeedHoldSeconds,
metadata.LongitudinalMode);
double terminalPathS = path.Points[path.Points.Count - 1].PathS;
var points = new List<EmTrajectoryPoint>(schedule.Samples.Count);
double directionSign = metadata.Direction == TravelDirection.Forward ? 1d : -1d;
@@ -51,7 +52,8 @@ public sealed class EmTrajectoryAssembler
throw new ArgumentException("Longitudinal PathS exceeds the assembled lateral path.", nameof(longitudinal));
InterpolatedLateralPathPoint geometry = interpolator.Interpolate(sample.PathS);
bool isTerminalAnchor = index == longitudinal.Candidate.KnotTimes.Count - 1;
bool isTerminalAnchor = metadata.LongitudinalMode == EmLongitudinalMode.ExactStopAtBoundary &&
index == schedule.TerminalAnchorSampleIndex;
EmBoundaryType boundaryType = isTerminalAnchor ? ToBoundaryType(metadata.TerminalType) : EmBoundaryType.None;
double signedSpeed = directionSign * sample.ProgressSpeed;
points.Add(new EmTrajectoryPoint(geometry.X, geometry.Y, geometry.Yaw, signedSpeed, sample.TimeFromStart,
ClumsyPilot/ParkrobTrajplanner/EMPlanner/Trajectory/TrajectorySampleSchedule.cs
+26 -3
View File
@@ -8,7 +8,8 @@ internal sealed class TrajectorySampleSchedule
{
private const double ZeroTolerance = 1e-12d;
public TrajectorySampleSchedule(LongitudinalCandidate candidate, double outputTimeStepSeconds, double holdDurationSeconds)
public TrajectorySampleSchedule(LongitudinalCandidate candidate, double outputTimeStepSeconds, double holdDurationSeconds,
EmLongitudinalMode mode)
{
if (candidate == null)
throw new ArgumentNullException(nameof(candidate));
@@ -16,8 +17,8 @@ internal sealed class TrajectorySampleSchedule
throw new ArgumentOutOfRangeException(nameof(outputTimeStepSeconds));
if (!IsFinite(holdDurationSeconds) || holdDurationSeconds < 0d)
throw new ArgumentOutOfRangeException(nameof(holdDurationSeconds));
if (Math.Abs(candidate.U[candidate.U.Count - 1]) > ZeroTolerance)
throw new ArgumentException("A publishable trajectory requires an exact zero-speed terminal candidate.", nameof(candidate));
if (!Enum.IsDefined(typeof(EmLongitudinalMode), mode))
throw new ArgumentOutOfRangeException(nameof(mode));
var samples = new List<TrajectorySample>(candidate.KnotTimes.Count + 4);
double previousPathS = double.NegativeInfinity;
@@ -33,6 +34,27 @@ internal sealed class TrajectorySampleSchedule
previousPathS = candidate.S[index];
}
if (mode != EmLongitudinalMode.ExactStopAtBoundary)
{
Samples = new ReadOnlyCollection<TrajectorySample>(samples);
TerminalAnchorSampleIndex = -1;
return;
}
int stabilizationStart = LongitudinalTerminalSchedule.GetStabilizationStartIndex(candidate.KnotTimes,
outputTimeStepSeconds);
double stopPathS = candidate.S[stabilizationStart];
for (int index = stabilizationStart; index < candidate.S.Count; index++)
{
if (Math.Abs(candidate.S[index] - stopPathS) > ZeroTolerance ||
Math.Abs(candidate.U[index]) > ZeroTolerance || Math.Abs(candidate.A[index]) > ZeroTolerance ||
(index < candidate.J.Count && Math.Abs(candidate.J[index]) > ZeroTolerance))
{
throw new ArgumentException("An exact stop requires a stationary S/U/A/J tail.", nameof(candidate));
}
}
TerminalAnchorSampleIndex = stabilizationStart;
TrajectorySample terminal = samples[samples.Count - 1];
double holdElapsed = 0d;
while (holdElapsed < holdDurationSeconds - ZeroTolerance)
@@ -45,6 +67,7 @@ internal sealed class TrajectorySampleSchedule
}
public IReadOnlyList<TrajectorySample> Samples { get; }
public int TerminalAnchorSampleIndex { get; }
private static bool IsFinite(double value)
{
ClumsyPilot/ParkrobTrajplanner/EMPlanner/Validation/EmTrajectoryValidator.cs
+40 -17
View File
@@ -16,6 +16,7 @@ public enum EmTrajectoryValidationFailure
SegmentBoundaryExceeded,
MissingTerminalAnchor,
TerminalSpeedNotZero,
TerminalAccelerationNotZero,
TerminalYawRateNotZero,
DirectionMismatch,
DirectionSignMismatch,
@@ -77,11 +78,11 @@ public sealed class EmTrajectoryValidator
}
public EmTrajectoryValidationResult Validate(EmTrajectory trajectory, PlanningGridMap map, VehicleParameters vehicle,
EmPlannerConfiguration configuration, int segmentIndex, double terminalPathS, EmBoundaryType terminalBoundary)
EmPlannerConfiguration configuration, int segmentIndex, double pathUpperBoundS, EmBoundaryType terminalBoundary)
{
if (trajectory == null || map == null || vehicle == null || configuration == null || configuration.Validation == null ||
configuration.Longitudinal == null || configuration.Corridor == null || segmentIndex < 0 ||
!IsFinite(terminalPathS) || terminalPathS < 0d || !Enum.IsDefined(typeof(EmBoundaryType), terminalBoundary) ||
!IsFinite(pathUpperBoundS) || pathUpperBoundS < 0d || !Enum.IsDefined(typeof(EmBoundaryType), terminalBoundary) ||
!TryReadLimits(configuration, vehicle, trajectory.Metadata.Direction, out ValidationLimits limits))
{
return EmTrajectoryValidationResult.Reject(EmTrajectoryValidationFailure.InvalidInput, -1,
@@ -93,8 +94,8 @@ public sealed class EmTrajectoryValidator
EmTrajectoryPoint point = trajectory.Points[index];
if (point == null || !HasOnlyFiniteValues(point))
return Reject(EmTrajectoryValidationFailure.NonFinite, index, "Trajectory contains a non-finite point.");
if (point.SegmentIndex != segmentIndex || point.SegmentLocalS > terminalPathS + limits.SpatialTolerance ||
point.PathS > terminalPathS + limits.SpatialTolerance)
if (point.SegmentIndex != segmentIndex || point.SegmentLocalS > pathUpperBoundS + limits.SpatialTolerance ||
point.PathS > pathUpperBoundS + limits.SpatialTolerance)
{
return Reject(EmTrajectoryValidationFailure.SegmentBoundaryExceeded, index,
"Trajectory point lies outside the current direction segment.");
@@ -114,21 +115,43 @@ public sealed class EmTrajectoryValidator
}
}
int terminalIndex = FindTerminalAnchor(trajectory, terminalPathS, terminalBoundary, limits.SpatialTolerance);
if (terminalIndex < 0)
int terminalIndex = -1;
if (trajectory.Metadata.LongitudinalMode == EmLongitudinalMode.ExactStopAtBoundary)
{
return Reject(EmTrajectoryValidationFailure.MissingTerminalAnchor,
FindFirstTerminalPathIndex(trajectory, terminalPathS, limits.SpatialTolerance),
"Trajectory does not contain the exact terminal boundary anchor.");
}
terminalIndex = FindTerminalAnchor(trajectory, pathUpperBoundS, terminalBoundary, limits.SpatialTolerance);
if (terminalIndex < 0)
{
return Reject(EmTrajectoryValidationFailure.MissingTerminalAnchor,
FindFirstTerminalPathIndex(trajectory, pathUpperBoundS, limits.SpatialTolerance),
"Trajectory does not contain the exact terminal boundary anchor.");
}
EmTrajectoryPoint terminal = trajectory.Points[terminalIndex];
if (Math.Abs(terminal.SignedLongitudinalVelocity) > limits.KinematicTolerance)
return Reject(EmTrajectoryValidationFailure.TerminalSpeedNotZero, terminalIndex,
"Terminal signed speed must be zero.");
if (Math.Abs(terminal.YawRate) > limits.KinematicTolerance)
return Reject(EmTrajectoryValidationFailure.TerminalYawRateNotZero, terminalIndex,
"Terminal yaw rate must be zero.");
EmTrajectoryPoint terminal = trajectory.Points[terminalIndex];
if (Math.Abs(terminal.SignedLongitudinalVelocity) > limits.KinematicTolerance)
return Reject(EmTrajectoryValidationFailure.TerminalSpeedNotZero, terminalIndex,
"Terminal signed speed must be zero.");
if (Math.Abs(terminal.LongitudinalAcceleration) > limits.KinematicTolerance)
return Reject(EmTrajectoryValidationFailure.TerminalAccelerationNotZero, terminalIndex,
"Terminal stored acceleration must be zero.");
if (Math.Abs(terminal.YawRate) > limits.KinematicTolerance)
return Reject(EmTrajectoryValidationFailure.TerminalYawRateNotZero, terminalIndex,
"Terminal yaw rate must be zero.");
for (int index = terminalIndex; index < trajectory.Points.Count; index++)
{
EmTrajectoryPoint tail = trajectory.Points[index];
if (Math.Abs(tail.PathS - terminal.PathS) > limits.SpatialTolerance)
{
return Reject(EmTrajectoryValidationFailure.MissingTerminalAnchor, index,
"Exact-stop tail must remain at the terminal PathS.");
}
if (Math.Abs(tail.SignedLongitudinalVelocity) > limits.KinematicTolerance)
return Reject(EmTrajectoryValidationFailure.TerminalSpeedNotZero, index,
"Exact-stop tail signed speed must remain zero.");
if (Math.Abs(tail.LongitudinalAcceleration) > limits.KinematicTolerance)
return Reject(EmTrajectoryValidationFailure.TerminalAccelerationNotZero, index,
"Exact-stop tail stored acceleration must remain zero.");
}
}
double directionSign = trajectory.Metadata.Direction == TravelDirection.Forward ? 1d : -1d;
double previousAcceleration = 0d;
ClumsyPilot/tests/EMPlannerVerificationHost/CoordinatorChecks.cs
+7 -3
View File
@@ -294,7 +294,9 @@ internal static class CoordinatorChecks
{
double signedVelocity = direction == TravelDirection.Forward ? 0.10d : -0.10d;
var metadata = new EmTrajectoryMetadata(trajectoryId, effectiveAt, effectiveAt, 110L, "rolling-reference", 100L,
string.Empty, 8, direction, terminalType);
string.Empty, 8, direction, terminalType, terminalType == EmTerminalType.RollingSafetyStop
? EmLongitudinalMode.RollingContinuation
: EmLongitudinalMode.ExactStopAtBoundary);
return new EmTrajectory(metadata, new[]
{
new EmTrajectoryPoint(0d, 0d, 0d, signedVelocity, 0d, 0.20d, 8, 0d, 0d, direction,
@@ -353,7 +355,8 @@ internal static class CoordinatorChecks
double sign = direction == TravelDirection.Forward ? 1d : -1d;
EmBoundaryType middleBoundary = includeGearBoundary ? EmBoundaryType.GearSwitchApproach : EmBoundaryType.None;
var metadata = new EmTrajectoryMetadata(trajectoryId, effectiveAt, effectiveAt, 55L, "handoff-reference", 39L,
string.Empty, segmentIndex, direction, EmTerminalType.RollingSafetyStop);
string.Empty, segmentIndex, direction, EmTerminalType.RollingSafetyStop,
EmLongitudinalMode.RollingContinuation);
return new EmTrajectory(metadata, new[]
{
new EmTrajectoryPoint(0d, 0d, 3.10d, sign * 0.10d, 0d, 0.25d, segmentIndex, 0d, 0d,
@@ -476,7 +479,8 @@ internal static class CoordinatorChecks
{
var metadata = new EmTrajectoryMetadata(request.OutputTrajectoryId, request.RequestedAtUtc, request.EffectiveAtUtc,
request.Map.SnapshotId, request.ReferencePathId, request.VehicleState.SequenceId, request.PreviousTrajectoryId,
request.SegmentIndex, TravelDirection.Forward, EmTerminalType.RollingSafetyStop);
request.SegmentIndex, TravelDirection.Forward, EmTerminalType.RollingSafetyStop,
EmLongitudinalMode.RollingContinuation);
var point = new EmTrajectoryPoint(0d, 0d, 0d, 0d, 0d, 0d, request.SegmentIndex, 0d, 0d,
TravelDirection.Forward, EmBoundaryType.RollingSafetyStop, 0d, 0d);
return new EmPlanningResult(EmPlanningStatus.Success, new EmTrajectory(metadata, new[] { point }), string.Empty);
ClumsyPilot/tests/EMPlannerVerificationHost/ExecutorChecks.cs
+6 -2
View File
@@ -252,7 +252,10 @@ internal static class ExecutorChecks
{
double signedSpeed = direction == TravelDirection.Forward ? 0.10d : -0.10d;
var metadata = new EmTrajectoryMetadata("executor-" + terminalBoundary, effectiveAt, effectiveAt, 70L,
"executor-reference", 60L, string.Empty, 4, direction, terminalType);
"executor-reference", 60L, string.Empty, 4, direction, terminalType,
terminalType == EmTerminalType.RollingSafetyStop
? EmLongitudinalMode.RollingContinuation
: EmLongitudinalMode.ExactStopAtBoundary);
return new EmTrajectory(metadata, new[]
{
new EmTrajectoryPoint(0d, 0d, 0d, signedSpeed, 0d, 0d, 4, 0d, 0d, direction, EmBoundaryType.None, 0d, 0d),
@@ -265,7 +268,8 @@ internal static class ExecutorChecks
double signedVelocity, double curvature)
{
var metadata = new EmTrajectoryMetadata("control-" + direction, effectiveAt, effectiveAt, 85L,
"control-reference", 84L, string.Empty, 5, direction, EmTerminalType.Goal);
"control-reference", 84L, string.Empty, 5, direction, EmTerminalType.Goal,
EmLongitudinalMode.ExactStopAtBoundary);
return new EmTrajectory(metadata, new[]
{
new EmTrajectoryPoint(1d, 2d, Math.PI / 3d, signedVelocity, 0d, curvature, 5, 0d, 0d, direction,
ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryChecks.cs
+103 -19
View File
@@ -14,6 +14,8 @@ internal static class TrajectoryChecks
VerifiesForwardFieldsExactTerminalAndHold();
VerifiesReverseTravelVelocityAndUnwrappedYaw();
VerifiesPublishedListsAreImmutable();
VerifiesRollingTrajectoryHasNoSyntheticStopTail();
VerifiesExactStopHoldHasNoJerkDiscontinuity();
VerifiesWorldSpacePublicationMutationsAreRejected();
VerifiesReverseSpeedLimitUsesReverseConfiguration();
}
@@ -50,11 +52,67 @@ internal static class TrajectoryChecks
{
EmTrajectory trajectory = new EmTrajectoryAssembler().Assemble(
CreatePath(TravelDirection.Forward, 0d, 0d), CreateLongitudinalResult(),
CreateMetadata(TravelDirection.Forward, EmTerminalType.RollingSafetyStop));
CreateMetadata(TravelDirection.Forward, EmTerminalType.RollingSafetyStop,
EmLongitudinalMode.RollingContinuation));
Verification.True(!(trajectory.Points is IList<EmTrajectoryPoint> mutable) || mutable.IsReadOnly,
"trajectory public point list is immutable");
}
private static void VerifiesRollingTrajectoryHasNoSyntheticStopTail()
{
EmTrajectory trajectory = new EmTrajectoryAssembler().Assemble(
CreatePath(TravelDirection.Forward, 0d, 0d), CreateRollingLongitudinalResult(),
CreateMetadata(TravelDirection.Forward, EmTerminalType.RollingSafetyStop,
EmLongitudinalMode.RollingContinuation));
Verification.Equal(21, trajectory.Points.Count, "rolling trajectory keeps only ST knots");
EmTrajectoryPoint terminal = trajectory.Points[trajectory.Points.Count - 1];
Verification.Equal(EmBoundaryType.None, terminal.BoundaryType,
"rolling horizon end is not a boundary anchor");
Verification.True(terminal.SignedLongitudinalVelocity > 0d,
"rolling terminal speed stays nonzero");
Verification.Equal(EmLongitudinalMode.RollingContinuation, trajectory.Metadata.LongitudinalMode,
"rolling longitudinal mode is published");
}
private static void VerifiesExactStopHoldHasNoJerkDiscontinuity()
{
ValidationContext context = CreateValidationContext();
EmTrajectory trajectory = CreateValidationTrajectory(TravelDirection.Forward);
EmTrajectoryValidationResult result = new EmTrajectoryValidator().Validate(trajectory, context.EmptyMap,
context.Vehicle, context.Configuration, 2, 0.0055d, EmBoundaryType.Goal);
Verification.True(result.IsValid, "exact stop with internal tail and external hold is publishable: " + result.Message);
int anchorIndex = LongitudinalTerminalSchedule.GetStabilizationStartIndex(
CreateValidationCandidate().KnotTimes, context.Configuration.Scheduling.OutputTimeStepSeconds);
EmTrajectoryPoint previousMoving = trajectory.Points[anchorIndex - 1];
EmTrajectoryPoint anchor = trajectory.Points[anchorIndex];
EmTrajectoryPoint stabilization = trajectory.Points[anchorIndex + 1];
EmTrajectoryPoint firstExternalHold = trajectory.Points[anchorIndex + 2];
Verification.Equal(EmBoundaryType.Goal, anchor.BoundaryType, "exact stop marks only the real boundary anchor");
Verification.Equal(EmBoundaryType.None, stabilization.BoundaryType,
"QP stabilization point is not a duplicate boundary anchor");
Verification.Equal(EmBoundaryType.None, firstExternalHold.BoundaryType,
"external hold is not a duplicate boundary anchor");
double terminalFiniteDifferenceAcceleration =
(anchor.SignedLongitudinalVelocity - previousMoving.SignedLongitudinalVelocity) /
(anchor.TimeFromStart - previousMoving.TimeFromStart);
double stabilizationAcceleration =
(stabilization.SignedLongitudinalVelocity - anchor.SignedLongitudinalVelocity) /
(stabilization.TimeFromStart - anchor.TimeFromStart);
double externalHoldAcceleration =
(firstExternalHold.SignedLongitudinalVelocity - stabilization.SignedLongitudinalVelocity) /
(firstExternalHold.TimeFromStart - stabilization.TimeFromStart);
double jerkIntoStabilization = (stabilizationAcceleration - terminalFiniteDifferenceAcceleration) /
(stabilization.TimeFromStart - anchor.TimeFromStart);
double jerkIntoExternalHold = (externalHoldAcceleration - stabilizationAcceleration) /
(firstExternalHold.TimeFromStart - stabilization.TimeFromStart);
Verification.True(Math.Abs(jerkIntoStabilization) <= 0.5d,
"jerk into QP stabilization stays within the limit");
Verification.NearlyEqual(0d, jerkIntoExternalHold, "jerk into the external hold is zero");
}
private static void VerifiesWorldSpacePublicationMutationsAreRejected()
{
ValidationContext context = CreateValidationContext();
@@ -104,11 +162,14 @@ internal static class TrajectoryChecks
AssertRejected(context, Replace(valid, 1, Clone(valid.Points[1], vehicleCurvature: 0.75d)),
EmTrajectoryValidationFailure.CurvatureRateLimitExceeded, 1, "curvature-rate limit");
const int terminalIndex = 8;
int terminalIndex = LongitudinalTerminalSchedule.GetStabilizationStartIndex(
CreateValidationCandidate().KnotTimes, context.Configuration.Scheduling.OutputTimeStepSeconds);
AssertRejected(context, Replace(valid, terminalIndex, Clone(valid.Points[terminalIndex], boundaryType: EmBoundaryType.None)),
EmTrajectoryValidationFailure.MissingTerminalAnchor, terminalIndex, "missing exact terminal anchor");
EmTrajectoryValidationFailure.MissingTerminalAnchor, terminalIndex - 1, "missing exact terminal anchor");
AssertRejected(context, Replace(valid, terminalIndex, Clone(valid.Points[terminalIndex], signedSpeed: 0.01d)),
EmTrajectoryValidationFailure.TerminalSpeedNotZero, terminalIndex, "terminal speed");
AssertRejected(context, CorruptDouble(valid, terminalIndex, "LongitudinalAcceleration", 0.01d),
EmTrajectoryValidationFailure.TerminalAccelerationNotZero, terminalIndex, "terminal acceleration");
AssertRejected(context, CorruptDouble(valid, terminalIndex, "YawRate", 0.01d),
EmTrajectoryValidationFailure.TerminalYawRateNotZero, terminalIndex, "terminal yaw rate");
@@ -186,13 +247,7 @@ internal static class TrajectoryChecks
private static EmTrajectory CreateValidationTrajectory(TravelDirection direction)
{
double[] times = { 0d, 0.05d, 0.10d, 0.15d, 0.20d, 0.25d, 0.30d, 0.35d, 0.40d };
double[] pathS = { 0d, 0.0014375d, 0.00271875d, 0.00378125d, 0.0045625d, 0.0050625d, 0.00534375d,
0.00546875d, 0.0055d };
double[] speed = { 0.03d, 0.0275d, 0.02375d, 0.01875d, 0.0125d, 0.0075d, 0.00375d, 0.00125d, 0d };
double[] acceleration = { -0.05d, -0.075d, -0.10d, -0.125d, -0.10d, -0.075d, -0.05d, -0.025d, 0d };
double[] jerk = { -0.5d, -0.5d, -0.5d, 0.5d, 0.5d, 0.5d, 0.5d, 0.5d };
var candidate = new LongitudinalCandidate(times, pathS, speed, acceleration, jerk);
LongitudinalCandidate candidate = CreateValidationCandidate();
var result = new LongitudinalPlanningResult(EmPlanningStatus.Success, candidate, string.Empty);
var path = new LateralPath(new[]
{
@@ -202,6 +257,17 @@ internal static class TrajectoryChecks
return new EmTrajectoryAssembler().Assemble(path, result, CreateMetadata(direction, EmTerminalType.Goal));
}
private static LongitudinalCandidate CreateValidationCandidate()
{
double[] times = { 0d, 0.05d, 0.10d, 0.15d, 0.20d, 0.25d, 0.30d, 0.35d, 0.40d, 0.45d, 0.50d };
double[] pathS = { 0d, 0.0014375d, 0.00271875d, 0.00378125d, 0.0045625d, 0.0050625d, 0.00534375d,
0.00546875d, 0.0055d, 0.0055d, 0.0055d };
double[] speed = { 0.03d, 0.0275d, 0.02375d, 0.01875d, 0.0125d, 0.0075d, 0.00375d, 0.00125d, 0d, 0d, 0d };
double[] acceleration = { -0.05d, -0.075d, -0.10d, -0.125d, -0.10d, -0.075d, -0.05d, -0.025d, 0d, 0d, 0d };
double[] jerk = { -0.5d, -0.5d, -0.5d, 0.5d, 0.5d, 0.5d, 0.5d, 0.5d, 0d, 0d };
return new LongitudinalCandidate(times, pathS, speed, acceleration, jerk);
}
private static EmTrajectory Replace(EmTrajectory trajectory, int index, EmTrajectoryPoint replacement)
{
var points = new List<EmTrajectoryPoint>(trajectory.Points);
@@ -280,8 +346,8 @@ internal static class TrajectoryChecks
Verification.Equal(terminalBoundary, terminal.BoundaryType, name + " exact terminal boundary type");
Verification.NearlyEqual(0d, terminal.SignedLongitudinalVelocity, name + " exact terminal signed speed");
Verification.NearlyEqual(0d, terminal.YawRate, name + " exact terminal yaw rate");
Verification.NearlyEqual(0.137d, terminal.TimeFromStart, name + " exact non-regular terminal time");
Verification.Equal(terminalIndex + 5, trajectory.Points.Count, name + " terminal plus 0.20-second hold samples");
Verification.NearlyEqual(0.15d, terminal.TimeFromStart, name + " exact terminal stabilization time");
Verification.Equal(terminalIndex + 6, trajectory.Points.Count, name + " terminal plus 0.20-second hold samples");
for (int index = terminalIndex + 1; index < trajectory.Points.Count; index++)
{
@@ -308,17 +374,35 @@ internal static class TrajectoryChecks
private static LongitudinalPlanningResult CreateLongitudinalResult()
{
var candidate = new LongitudinalCandidate(
new[] { 0d, 0.05d, 0.10d, 0.137d },
new[] { 0d, 0.04d, 0.08d, 0.12d },
new[] { 0.8d, 0.8d, 0.8d, 0d },
new[] { 0d, 0d, 0d, 0d },
new[] { 0d, 0d, 0d });
new[] { 0d, 0.05d, 0.10d, 0.15d, 0.20d },
new[] { 0d, 0.04d, 0.08d, 0.12d, 0.12d },
new[] { 0.8d, 0.8d, 0.2d, 0d, 0d },
new[] { 0d, 0d, 0d, 0d, 0d },
new[] { 0d, 0d, 0d, 0d });
return new LongitudinalPlanningResult(EmPlanningStatus.Success, candidate, string.Empty);
}
private static EmTrajectoryMetadata CreateMetadata(TravelDirection direction, EmTerminalType terminalType)
private static LongitudinalPlanningResult CreateRollingLongitudinalResult()
{
var times = new double[21];
var pathS = new double[21];
var speed = new double[21];
var acceleration = new double[21];
var jerk = new double[20];
for (int index = 0; index < times.Length; index++)
{
times[index] = index * 0.1d;
pathS[index] = index * 0.004d;
speed[index] = 0.04d;
}
return new LongitudinalPlanningResult(EmPlanningStatus.Success,
new LongitudinalCandidate(times, pathS, speed, acceleration, jerk), string.Empty);
}
private static EmTrajectoryMetadata CreateMetadata(TravelDirection direction, EmTerminalType terminalType,
EmLongitudinalMode longitudinalMode = EmLongitudinalMode.ExactStopAtBoundary)
{
return new EmTrajectoryMetadata("trajectory", DateTimeOffset.UnixEpoch, DateTimeOffset.UnixEpoch, 3L,
"reference", 4L, string.Empty, 2, direction, terminalType);
"reference", 4L, string.Empty, 2, direction, terminalType, longitudinalMode);
}
}
ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs
+2 -1
View File
@@ -771,7 +771,8 @@ internal static class TrajectoryObservationChecks
EmTerminalType terminalType = EmTerminalType.Goal)
{
var metadata = new EmTrajectoryMetadata("observer-published", effectiveAt, effectiveAt, 1L,
"observer-reference", 1L, string.Empty, 0, TravelDirection.Forward, terminalType);
"observer-reference", 1L, string.Empty, 0, TravelDirection.Forward, terminalType,
EmLongitudinalMode.RollingContinuation);
return new EmTrajectory(metadata, new[]
{
new EmTrajectoryPoint(0.25d, 0.10d, 0d, 0.20d, 0d, 0d, 0, 0.25d, 4d,