feat: publish rolling trajectories without stop tails

2026-08-05 20:00:11 +08:00
parent 72592f0cae
commit 4159ae0bc1
9 changed files with 196 additions and 50 deletions
@@ -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)
            {