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test: verify lateral LS scenarios

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This commit is contained in:
梁薄云
2026-08-04 08:52:05 +08:00
parent f19df53f73
commit 4d83ed2036
4 changed files with 249 additions and 5 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+15 -4
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@@ -8,9 +8,10 @@ internal static class Program
{
if (args.Length != 1 || (args[0] != "foundation" && args[0] != "segmentation" && args[0] != "frenet" &&
args[0] != "corridor" && args[0] != "optimization" && args[0] != "osqp" && args[0] != "osqp-loader" && args[0] != "osqp-probe" &&
args[0] != "all-foundation" && args[0] != "lateral-model" && args[0] != "lateral-integration"))
args[0] != "all-foundation" && args[0] != "lateral-model" && args[0] != "lateral-integration" &&
args[0] != "lateral-real-osqp" && args[0] != "lateral-real-osqp-probe" && args[0] != "lateral-all"))
{
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model|lateral-integration");
Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model|lateral-integration|lateral-real-osqp|lateral-all");
return 2;
}
@@ -50,16 +51,26 @@ internal static class Program
{
MultiWheelC.TrajectoryPlanning.EMPlanner.OsqpChecks.RunProbe();
}
if (args[0] == "lateral-model")
if (args[0] == "lateral-model" || args[0] == "lateral-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LateralModelChecks.Run();
Console.WriteLine("PASS lateral-model");
}
if (args[0] == "lateral-integration")
if (args[0] == "lateral-integration" || args[0] == "lateral-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LateralIntegrationChecks.Run();
Console.WriteLine("PASS lateral-integration");
}
if (args[0] == "lateral-real-osqp-probe")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LateralIntegrationChecks.RunRealOsqp();
Console.WriteLine("PASS lateral-real-osqp");
}
if (args[0] == "lateral-real-osqp" || args[0] == "lateral-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LateralIntegrationChecks.RunRealOsqpInCleanPluginBundle();
Console.WriteLine("PASS lateral-real-osqp");
}
return 0;
}
catch (Exception exception)